Aaa2 PDF

Reference Manual
Logix 5000 Advanced Process Control and Drives and

Equipment Phase and Sequence Instructions
1756 ControlLogix, 1756 GuardLogix, 1769 CompactLogix, 1769 Compact GuardLogix, 1789
SoftLogix, 5069 CompactLogix, Emulate 5570
Important user information
Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment
before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions
in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by
suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer,
the protection provided by the equipment may be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this
equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated
with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and
diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this
manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to
personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic
loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence
Important: Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be
present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous
temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc
Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work
practices and for Personal Protective Equipment (PPE).
Allen-Bradley, Rockwell Software, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Summary of changes
This manual includes new and updated information. Use these reference tables to
locate changed information.
Global changes
None for this release.
New or enhanced features
Subject Reason
Common Attributes on page 537 Added link to the Elementary Data Types topic
Immediate values on page 540 Added Integer Immediate Values and Floating Point
Immediate Values tables.
Data Conversions on page 541 Changed Optimal data types to intermediate data types and
included extended data types USINT, INT, UINT, UDINT,
ULINT, LREAL. In the Convert SINT or INT to DINT section,
added converting DINT to LINT. Included converting data
for 32 and 64 bits.
Elementary data types on page 545 Changed the topic title from Data Types to Elementary Data
Types. Added LINT, USINT, UINT, UDINT, ULINT, REAL, and
LREAL.
LINT data types on page 548 Added a list of applicable controllers that support LINT data
types used in instructions.
Floating Point Values on page 548 Added a list of applicable controllers. Added LREAL tag
description.
Index Through Arrays on page 551 Added two new tips explaining Logix Designer allows
subscripts that are extended data type tags only. Also
explained using all available integer elementary data types
as a subscript index.
Bit Addressing on page 552 Added new definitions.
FOR_DO on page 525 Updated the description for loop ends.
The controllers that support Equipment Phase instructions
Equipment Phase Instructions on page 415 expanded to include the CompactLogix 5370 and
CompactLogix 5380, ControlLogix 5570 and ControlLogix
5580, and Compact GuardLogix 5370 and Compact
GuardLogix 5380 controllers.
Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 3

Instruction Locator
Use this locator to find the applicable Logix5000 controllers instruction manual
for each instruction.
Logix5000 Controllers General Instructions Logix5000 Controllers Advanced Process Logix5000 Controllers Motion Instructions
Reference Manual 1756-RM003 Control and Drives and Equipment Phase Reference Manual MOTION-RM002
and Sequence Instructions Reference
Manual 1756-RM006
Absolute Value (ABS) Alarm (ALM) Master Driven Coordinated Control (MDCC)
Add (ADD) Attach to Equipment Phase (PATT) Motion Apply Axis Tuning (MAAT)
Analog Alarm (ALMA) Attach to Equipment Sequence (SATT) Motion Apply Hookup Diagnostics (MAHD)
Always False (AFI) Coordinated Control (CC) Motion Arm Output Cam (MAOC)
Arc Cosine (ACS, ACOS) D Flip-Flop (DFF) Motion Arm Registration (MAR)
Arc Sine (ASN, ASIN) Deadtime (DEDT) Motion Arm Watch (MAW)
Arc Tangent (ATN, ATAN) Derivative (DERV) Motion Axis Fault Reset (MAFR)
ASCII Chars in Buffer (ACB) Detach from Equipment Phase (PDET) Motion Axis Gear (MAG)
ASCII Clear Buffer (ACL) Detach from Equipment Sequence (SDET) Motion Axis Home (MAH)
ASCII Handshake Lines (AHL) Discrete 3-State Device (D3SD) Motion Axis Jog (MAJ)
ASCII Read (ARD) Discrete 2-State Device (D2SD) Motion Axis Move (MAM)
ASCII Read Line (ARL) Enhanced PID (PIDE) Motion Axis Position Cam (MAPC)
ASCII Test for Buffer Line (ABL) Enhanced Select (ESEL) Motion Axis Stop (MAS)
ASCII Write (AWT) Equipment Phase Clear Failure (PCLF) Motion Axis Time Cam (MATC)
ASCII Write Append (AWA) Equipment Phase Command (PCMD) Motion Axis Shutdown (MASD)
Bit Field Distribute (BTD) Equipment Phase External Request (PXRQ) Motion Axis Shutdown Reset (MASR)
Bit Field Distribute with Target (BTDT) Equipment Phase Failure (PFL) Motion Calculate Cam Profile (MCCP)
Bit Shift Left (BSL) Equipment Phase New Parameters (PRNP) Motion Coordinated Path Move (MCPM)
Bit Shift Right (BSR) Equipment Phase Override Command (POVR) Motion Calculate Slave Values (MCSV)
Bitwise And (AND) Equipment Phase Paused (PPD) Motion Coordinated Transform with Orientation
(MCTO)
Bitwise (NOT) Equipment Sequence Assign Sequence Identifier Motion Calculate Transform Position (MCTP)
(SASI)
Bitwise (OR) Equipment Sequence Clear Failure (SCLF) Motion Calculate Transform Position with
Orientation (MCTPO)
Boolean AND (BAND) Equipment Sequence command (SCMD) Motion Change Dynamics (MCD)
Boolean Exclusive OR (BXOR) Equipment Sequence Override (SOVR) Motion Coordinated Change Dynamics (MCCD)
Boolean NOT (BNOT) Function Generator (FGEN) Motion Coordinated Circular Move (MCCM)
Boolean OR (BOR) High Pass Filter (HPF) Motion Coordinated Linear Move (MCLM)
Break (BRK) High/Low Limit (HLL) Motion Coordinated Shutdown (MCSD)
Breakpoints (BPT) Integrator (INTG) Motion Coordinated Shutdown Reset (MCSR)
Clear (CLR) Internal Model Control (IMC) Motion Coordinated Stop (MCS)
Compare (CMP) JK Flip-Flop (JKFF) Motion Coordinated Transform (MCT)

Instruction Locator
Manual 1756-RM006
Convert to BCD (TOD) Lead-Lag (LDLG) Motion Direct Drive Off (MDF)
Convert to Integer (FRD) Low Pass Filter (LPF) Motion Direct Drive On (MDO)
Copy File (COP), Synchronous Copy File (CPS) Maximum Capture (MAXC) Motion Direct Start (MDS)
Cosine (COS) Minimum Capture (MINC) Motion Disarm Output Cam (MDOC)
Compute (CPT) Modular Multivariable Control (MMC) Motion Disarm Registration (MDR)
Count down (CTD) Moving Average (MAVE) Motion Disarm Watch (MDW)
Count up (CTU) Moving Standard Deviation (MSTD) Motion Group Shutdown (MGSD)
Count up/down CTUD Multiplexer (MUX) Motion Group Shutdown Reset (MGSR)
Data Transition (DTR) Notch Filter (NTCH) Motion Group Stop (MGS)
Degrees (DEG) Phase State Complete (PSC) Motion Group Strobe Position (MGSP)
Diagnostic Detect (DDT) Position Proportional (POSP) Motion Redefine Position (MRP)
Digital Alarm (ALMD) Proportional + Integral (PI) Motion Run Axis Tuning (MRAT)
DINT To String (DTOS) Pulse Multiplier (PMUL) Motion Run Hookup Diagnostics (MRHD)
Divide (DIV) Ramp/Soak (RMPS) Motion Servo Off (MSF)
End of Transition (EOT) Rate Limiter (RLIM) Motion Servo On (MSO)
Equal to (EQU) Reset Dominant (RESD)
File Arithmetic (FAL) Scale (SCL)
File Bit Comparison (FBC) S-Curve (SCRV)
FIFO Load (FFL) Second-Order Controller (SOC)
FIFO Unload (FFU) Second-Order Lead Lag (LDL2)
File Average (AVE) Select (SEL)

File Standard Deviation (STD) Selected Negate (SNEG)
File Fill (FLL) Selected Summer (SSUM)
File Sort (SRT) Set Dominant (SETD)
Find String (FIND) Split Range Time Proportional (SRTP)
For (FOR) Totalizer (TOT)
File Search and Compare (FSC) Up/Down Accumulator (UPDN)
Get System Value (GSV) and Set System Value
(SST)
Greater Than or Equal to (GEQ)
Greater than (GRT)
Insert String (INSERT)
Immediate Output (IOT)
Jump to Label (JMP) and Label (LBL)
Jump to Subroutine (JSR), Subroutine (SBR), and
Return (RET)
Jump to External Routine (JXR)
Less Than (LES)
6 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Instruction Locator
Manual 1756-RM006
Less Than or Equal to (LEQ)
LIFO Load (LFL)
LIFO Unload (LFU)
License Validation (LV)
Limit (LIM)
Log Base (LOG)
Lower to Case (LOWER)
Masked Move (MVM)
Masked Move with Target (MVMT)
Master Control Reset (MCR)
Masked Equal to (MEQ)
Message (MSG)
Middle String (MID)
Modulo (MOD)
Move (MOV)
Multiply (MUL)
Natural Log (LN)
Negate (NEG)
Not Equal to (NEQ)
No Operation (NOP)
One Shot (ONS)
One Shot Falling (OSF)
One Shot Falling with Input (OSFI)
One Shot Rising (OSR)
One Shot Rising with Input (OSRI)
Output Energize (OTE)
Output Latch (OTL)
Output Unlatch (OTU)
Proportional Integral Derivative (PID)
Radian (RAD)
Real to String (RTOS)
Reset (RES)
Reset SFC (SFR)
Return (RET)
Retentive Timer On (RTO)
Retentive Timer On with Reset (RTOR)
Pause SFC (SFP)
Size In Elements (SIZE)
Sequencer Input (SQI)

Instruction Locator
Manual 1756-RM006
Sequencer Load (SQL)
Sequencer Output (SQO)
Sine (SIN)
Square Roost (SQR/SQRT)
String Concatenate (CONCAT)
String Delete (DELETE)
String to DINT (STOD)
String to REAL (STOR)
Swap Byte (SWPB)
Subtract (SUB)
Tangent (TAN)
Timer Off Delay (TOF)
Timer Off Delay with Reset (TOFR)
Timer On Delay (TON)
Timer On Delay with Reset (TONR)
Temporary End (TND)
Tracepoints (TPT)
Trigger Event Task (EVENT)
Truncate (TRN)
Unknown Instruction (UNK)
Upper Case (UPPER)
User Interrupt Disable (UID)/User Interrupt Enable
(UIE)
X to the Power of Y (XPY)
Examine if Closed (XIC)
Examine If Open (XIO)
Bitwise Exclusive (XOR)

Table of contents
Preface Studio 5000 environment................................................................................................. 15

Additional resources .......................................................................................................... 16
Purpose of this manual ...................................................................................................... 16
Legal Notices ....................................................................................................................... 16
Chapter 1
Process Control Instructions Process Control Instructions ........................................................................................... 19

Alarm (ALM)...................................................................................................................... 20
Discrete 3-State Device (D3SD) ..................................................................................... 26
Discrete 2-State Device (D2SD) ..................................................................................... 41
Deadtime (DEDT) ............................................................................................................ 51
Function Generator (FGEN) .......................................................................................... 56
Lead-Lag (LDLG) .............................................................................................................. 62
Enhanced PID (PIDE) ...................................................................................................... 67
Position Proportional (POSP) ...................................................................................... 102
Ramp/Soak (RMPS) ....................................................................................................... 111
Scale (SCL) ........................................................................................................................ 125
Split Range Time Proportional (SRTP) ...................................................................... 130
Totalizer (TOT) .............................................................................................................. 137
Coordinated Control (CC) ........................................................................................... 147
CC Function Block Configuration ...................................................................... 181
CC Function Block Model Initialization ............................................................ 182
CC Function Block Tuning ................................................................................... 183
CC Function Block Tuning Errors ...................................................................... 183
CC Function Block Tuning Procedure ............................................................... 184
Internal Model Control (IMC) .................................................................................... 184
IMC Function Block Configuration.................................................................... 201
IMC Function Block Model Initialization ......................................................... 202
IMC Function Block Tuning ................................................................................ 202
IMC Function Block Tuning Errors .................................................................... 203
IMC Function Block Tuning Procedure............................................................. 204
Modular Multivariable Control (MMC).................................................................... 204
MMC Function Block Configuration ................................................................. 243
MMC Function Block Model Initialization....................................................... 245
MMC Function Block Tuning.............................................................................. 245
Use an MMC Function Block for Splitter Control .......................................... 246
MMC Function Block Tuning Errors ................................................................. 246
MMC Function Block Tuning Procedure .......................................................... 247
Current SP ......................................................................................................................... 248
Use the Coordinated Control Function Block to Control ............................. 248
CV High/Low Limiting ................................................................................................. 250
CV Percent Limiting ....................................................................................................... 251
CV Rate-of-Change Limiting ........................................................................................ 252
Table of contents
CV Windup Limiting ..................................................................................................... 253

Execution ........................................................................................................................... 254
Switch Between Program Control and Operator Control .............................. 254
Operating Modes...................................................................................................... 255
Convert the PV and SP Values to Percent .......................................................... 257
Primary Loop Control ............................................................................................ 257
Processing Faults....................................................................................................... 259
Select the Control Variable .................................................................................... 259
Update the CVOper and CVProg Values ........................................................... 260
Select the Setpoint .................................................................................................... 260
SP High/Low Limiting ........................................................................................... 261
Chapter 2
Drives Drives Instructions .......................................................................................................... 263

Integrator (INTG) ........................................................................................................... 264
Proportional + Integral (PI) .......................................................................................... 270
Pulse Multiplier (PMUL)............................................................................................... 281
S-Curve (SCRV) .............................................................................................................. 289
Second-Order Controller (SOC) ................................................................................. 298
Up/Down Accumulator (UPDN) ............................................................................... 308
HMI Button Control (HMIBC) ................................................................................. 312
Chapter 3
Filter Filter Instructions ............................................................................................................ 319

Derivative (DERV) .......................................................................................................... 320
High Pass Filter (HPF) ................................................................................................... 324
Low Pass Filter (LPF) ...................................................................................................... 330
Notch Filter (NTCH) .................................................................................................... 336
Second-Order Lead Lag (LDL2)................................................................................... 341
Chapter 4
Select_Limit Instructions Select/Limit Instructions ............................................................................................... 349

Enhanced Select (ESEL) ................................................................................................. 350
High/Low Limit (HLL) ................................................................................................. 357
Multiplexer (MUX)......................................................................................................... 362
Rate Limiter (RLIM)....................................................................................................... 365
Select (SEL) ....................................................................................................................... 370
Selected Negate (SNEG) ................................................................................................ 373
Selected Summer (SSUM) ............................................................................................. 376

Table of contents
Chapter 5
Statistical Instructions Statistical Instructions..................................................................................................... 381

Moving Average (MAVE) .............................................................................................. 382
Maximum Capture (MAXC) ........................................................................................ 388
Minimum Capture (MINC) ......................................................................................... 392
Moving Standard Deviation (MSTD) ......................................................................... 395
Chapter 6
Logical and Move Logical and Move Instructions ...................................................................................... 401

D Flip-Flop (DFF) ........................................................................................................... 401
JK Flip-Flop (JKFF)......................................................................................................... 404
Reset Dominant (RESD)................................................................................................ 407
Set Dominant (SETD).................................................................................................... 411
Chapter 7
Equipment Phase Equipment Phase Instructions ...................................................................................... 415

Attach to Equipment Phase (PATT)........................................................................... 416
Instructions
Detach from Equipment Phase (PDET) ..................................................................... 421
Equipment Phase Clear Failure (PCLF) ..................................................................... 424
Equipment Phase Command (PCMD) ...................................................................... 427
Equipment Phase External Request (PXRQ)............................................................. 433
Equipment Phase Failure (PFL) .................................................................................... 443
Equipment Phase New Parameters (PRNP) .............................................................. 448
Equipment Phase Override Command (POVR) ...................................................... 451
Equipment Phase Paused (PPD) ................................................................................... 455
Phase State Complete (PSC) ......................................................................................... 460
Chapter 8
Equipment Sequence Equipment Sequence instructions ................................................................................ 465

Attach to Equipment Sequence (SATT) .................................................................... 465
Detach from Equipment Sequence (SDET)............................................................... 468
Equipment Sequence Assign Sequence Identifier (SASI) ........................................ 470
Equipment Sequence Clear Failure (SCLF) ............................................................... 471
Equipment Sequence command (SCMD) .................................................................. 473
Equipment Sequence Diagram instructions ............................................................... 476
Equipment Sequence Override (SOVR) ..................................................................... 476
Guidelines for SATT instructions ................................................................................ 479
Guidelines for SCMD instructions .............................................................................. 480
Guidelines for SOVR instructions................................................................................ 480
Result codes for SATT instructions ............................................................................. 481
Result codes for SCLF instructions .............................................................................. 482

Table of contents
Result codes for SCMD instructions ........................................................................... 483

Result codes for SOVR instructions ............................................................................. 484
SASI instruction examples ............................................................................................. 485
SATT instruction examples ........................................................................................... 486
SCLF instruction examples ............................................................................................ 486
SCMD instruction examples ......................................................................................... 487
SDET instruction examples ........................................................................................... 487
SOVR instruction examples ........................................................................................... 488
When should I use an SOVR instruction instead of an SCMD instruction? ...... 489
Chapter 9
Function Block Attributes Choose the Function Block Elements.......................................................................... 492

Latching Data.................................................................................................................... 493
Function Block Responses to Overflow Conditions ................................................ 494
Order of Execution .......................................................................................................... 495
Timing Modes .................................................................................................................. 499
Program/Operator Control ........................................................................................... 502
Function Block States...................................................................................................... 505
Chapter 10
Structured Text Structured Text Syntax ................................................................................................... 508

Structured Text Components: Comments ................................................................ 509
Programming
Structured Text Components: Assignments .............................................................. 510
Specify a non-retentive assignment ....................................................................... 511
Assign an ASCII character to a string data member ......................................... 512
Structured Text Components: Expressions ................................................................ 513
Use arithmetic operators and functions .............................................................. 514
Use bitwise operators ............................................................................................... 516
Use logical operators ................................................................................................ 516
Use relational operators .......................................................................................... 517
Structured Text Components: Instructions ............................................................... 519
Structured Text Components: Constructs ................................................................. 520
Character string literals ................................................................................................... 521
String Types ............................................................................................................... 522
CASE_OF ......................................................................................................................... 523
FOR_DO........................................................................................................................... 525
IF_THEN.......................................................................................................................... 527
REPEAT_UNTIL ........................................................................................................... 530
WHILE_DO .................................................................................................................... 533
Structured Text Attributes............................................................................................. 535

Table of contents
Chapter 11
Common Attributes for Common Attributes ........................................................................................................ 537

Math Status Flags ............................................................................................................. 537
Advanced Process Control
Immediate values .............................................................................................................. 540
and Drives Instructions Data Conversions ............................................................................................................. 541
Elementary data types ...................................................................................................... 545
LINT data types ............................................................................................................... 548
Floating Point Values ...................................................................................................... 548
Index Through Arrays ..................................................................................................... 551
Bit Addressing ................................................................................................................... 552
Function Block Faceplate Controls .............................................................................. 552
Faceplate Control Properties Dialog - General Tab ................................................. 553
Faceplate Control Properties Dialog - Display Tab .................................................. 554
Faceplate Control Properties Dialog - Font Tab ....................................................... 555
Faceplate Control Properties Dialog - LocaleTab ..................................................... 556
ASCII Character Codes.................................................................................................. 557
ASCII character codes ..................................................................................................... 557
Index

Preface
This manual provides a programmer with details about the available General,
Motion, Process, and Drives instruction set for a Logix-based controller.
If you design, program, or troubleshoot safety applications that use GuardLogix

controllers, refer to the GuardLogix Safety Application Instruction Set Safety
Reference Manual, publication 1756-RM095.
This manual is one of a set of related manuals that show common procedures for
programming and operating Logix 5000 controllers.
For a complete list of common procedures manuals, refer to the Logix 5000
Controllers Common Procedures Programming Manual, publication 1756-
PM001 .
The term Logix 5000 controller refers to any controller based on the Logix 5000
operating system.
Studio 5000 environment The Studio 5000 Automation Engineering & Design Environment® combines
engineering and design elements into a common environment. The first element is
the Studio 5000 Logix Designer® application. The Logix Designer application is
the rebranding of RSLogix 5000® software and will continue to be the product to
program Logix 5000™ controllers for discrete, process, batch, motion, safety, and
drive-based solutions.
The Studio 5000® environment is the foundation for the future of

Rockwell Automation® engineering design tools and capabilities. The Studio 5000
environment is the one place for design engineers to develop all elements of their
control system.

Preface
Additional resources These documents contain additional information concerning related Rockwell
Automation products.
Resource Description
Industrial Automation Wiring and Grounding Guidelines , Provides general guidelines for installing a Rockwell
publication 1770-4.1 Automation industrial system.
Product Certifications webpage, available Provides declarations of conformity, certificates, and other
at http://ab.rockwellautomation.com certification details.
View or download publications

at http://www.rockwellautomation.com/literature . To order paper copies of
technical documentation, contact the local Rockwell Automation distributor or
sales representative.
Purpose of this manual This manual provides a programmer with details about each available instruction
for a Logix-based controller. This manual also gives you guidance and examples to
use equipment phase instructions to transition to different state, handle faults, set
up break points, and so forth.
Legal Notices Copyright Notice
Copyright © 2019 Rockwell Automation Technologies, Inc. All Rights Reserved.

Printed in USA.
This document and any accompanying Rockwell Software products are

copyrighted by Rockwell Automation Technologies, Inc. Any reproduction
and/or distribution without prior written consent from Rockwell Automation
Technologies, Inc. is strictly prohibited. Please refer to the license agreement for
details.
End User License Agreement (EULA)
You can view the Rockwell Automation End-User License Agreement ("EULA")
by opening the License.rtf file located in your product's install folder on your hard
drive.
Open source licenses
The software included in this product contains copyrighted software that is

licensed under one or more open source licenses. Copies of those licenses are
included with the software. Corresponding Source code for open source packages
included in this product are located at their respective web site(s).
Alternately, obtain complete Corresponding Source code by contacting Rockwell

Automation via the Contact form on the Rockwell Automation
website: http://www.rockwellautomation.com/global/about-

Preface
us/contact/contact.page
Please include "Open Source" as part of the request text.
A full list of all open source software used in this product and their corresponding
licenses can be found in the OPENSOURCE folder included with the Release
Notes. The default installed location of these licenses is C:\Program Files
(x86)\Common
Files\Rockwell\Help\<Product>\ReleaseNotes\OPENSOURCE\index.htm.
Trademark Notices
Allen-Bradley, ControlBus, ControlFLASH, Compact GuardLogix, Compact

I/O, ControlLogix, CompactLogix, DCM, DH+, Data Highway Plus,
DriveLogix, DPI, DriveTools, Explorer, FactoryTalk, FactoryTalk Administration
Console, FactoryTalk Alarms and Events, FactoryTalk Batch, FactoryTalk
Directory, FactoryTalk Security, FactoryTalk Services Platform, FactoryTalk
View, FactoryTalk View SE, FLEX Ex, FlexLogix, FLEX I/O, Guard I/O, High
Performance Drive, Integrated Architecture, Kinetix, Logix5000, Logix 5000,
Logix5550, MicroLogix, DeviceNet, EtherNet/IP, PLC-2, PLC-3, PLC-5,
PanelBuilder, PowerFlex, PhaseManager, POINT I/O, PowerFlex, Rockwell
Automation, RSBizWare, Rockwell Software, RSEmulate, Historian,
RSFieldbus, RSLinx, RSLogix, RSNetWorx for DeviceNet, RSNetWorx for
EtherNet/IP, RSMACC, RSView, RSView32, Rockwell Software Studio 5000
Automation Engineering & Design Environment, Studio 5000 View Designer,
SCANport, SLC, SoftLogix, SMC Flex, Studio 5000, Ultra 100, Ultra 200,
VersaView, WINtelligent, XM, SequenceManager are trademarks of Rockwell
Automation, Inc.
Any Rockwell Automation logo, software or hardware product not mentioned

herein is also a trademark, registered or otherwise, of Rockwell Automation, Inc.
Other Trademarks
CmFAS Assistant, CmDongle, CmStick, CodeMeter, CodeMeter Control

Center, and WIBU are trademarks of WIBU-SYSTEMS AG in the United States
and/or other countries.
All other trademarks are the property of their respective holders and are hereby
acknowledged.
Warranty
This product is warranted in accordance with the product license. The product’s
performance may be affected by system configuration, the application being
performed, operator control, maintenance, and other related factors. Rockwell
Automation is not responsible for these intervening factors. The instructions in
this document do not cover all the details or variations in the equipment,

Preface
procedure, or process described, nor do they provide directions for meeting every
possible contingency during installation, operation, or maintenance. This
product’s implementation may vary among users.
This document is current as of the time of release of the product; however, the
accompanying software may have changed since the release. Rockwell Automation,
Inc. reserves the right to change any information contained in this document or
the software at any time without prior notice. It is your responsibility to obtain the
most current information available from Rockwell when installing or using this
product.
Environmental Compliance
Rockwell Automation maintains current product environmental information on

its website at http://www.rockwellautomation.com/rockwellautomation/about-
us/sustainability-ethics/product-environmental-compliance.page
Contact Rockwell
Customer Support Telephone — 1.440.646.3434
Online Support — http://www.rockwellautomation.com/support/

Chapter 1
Process
Process Control The Process Control instructions include these instructions:
Instructions Available Instructions
Ladder Diagram
Not available
Function Block and Structured Text
ALM SCL PIDE RMPS POSP SRTP LDLG FGEN
TOT DEDT D2SD D3SD IMC CC MMC
If you want to Use this instruction

Provide alarming for any analog signal. ALM
Control discrete devices, such as solenoid valves, pumps, and motors, that D2SD
have only two possible states (e.g., on/off, open/closed, etc.).
Control discrete devices, such as high/low/off feeders that have three D3SD
possible states (e.g., fast/slow/off, forward/stop/reverse, etc.).
Perform a delay of a single input. You select the amount of deadtime DEDT
delay.
Convert an input based on a piece-wise linear function. FGEN
Provide a phase lead-lag compensation for an input signal. LDLG
Regulate an analog output to maintain a process variable at a certain PIDE
setpoint, using a PID algorithm.
Raise/lower or open/close a device, such as a motor-operated valve, by POSP
pulsing open or close contacts.
Provide for alternating ramp and soak periods to follow a temperature RMPS
profile.
Convert an unscaled input value to a floating point value in engineering SCL
units.

Chapter 1 Process Control Instructions
Take the 0-100% output of a PID loop and drive heating and cooling SRTP
digital output contacts with a periodic pulse.
Provide a time-scaled accumulation of an analog input value, such as a TOT

volumetric flow.
Control a single process variable by maintaining a single controller output. IMC
Control a single process variable by manipulating as many as three CC

different control variables.
Control two process variables to their setpoints using up to three control MMC
variables.
See also
Filter Instructions on page 319
Logical and Move Instructions on page 401
Drives Instructions on page 263
Select/Limit Instructions on page 349
Statistical Instructions on page 381
This information applies to the CompactLogix 5370, ControlLogix 5570,

Alarm (ALM)
Compact GuardLogix 5370, GuardLogix 5570, Compact GuardLogix 5380,
CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The ALM instruction provides alarming for any analog signal.
Available Languages
Ladder Diagram
This instruction is not available in ladder diagram logic.

Process Control Instructions Chapter 1
Function Block
Structured Text
ALM(ALM_tag)
Operands
Function Block
Operand Type Format Description

ALM tag ALARM structure ALM structure
Structured Text

ALM tag ALARM structure ALM structure
See Structured Text Syntax for more information on the syntax of expressions
within structured text.

ALARM Structure
Input Parameter Data Type Description

EnableIn BOOL Enable input. If false, the instruction does not execute and outputs
are not updated.
Default is true.
In REAL The analog signal input.
Valid = any float
Default = 0.0
HHLimit REAL The high-high alarm limit for the input.
Valid = any real value
Default = maximum positive value
HLimit REAL The high alarm limit for the input.
Default = maximum positive value
LLimit REAL The low alarm limit for the input.
Default = maximum negative value
LLLimit REAL The low-low alarm limit for the input.
Default = maximum negative value
Deadband REAL The alarm deadband for the high-high to low-low limits
Valid = any real value 0.0
Default = 0.0
ROCPosLimit REAL The rate-of-change alarm limit in units per second for a positive
(increasing) change in the input. Set ROCPosLimit = 0 to disable
ROC positive alarming. If invalid, the instruction assumes a value of
0.0 and sets the appropriate bit in Status.
Default = 0.0
ROCNegLimit REAL The rate-of-change alarm limit in units per second for a negative
(decreasing) change in the input. Set ROCNegLimit = 0 to disable
ROC negative alarming. If invalid, the instruction assumes a value of
0.0 and sets the appropriate bit in Status.
Default = 0.0
ROCPeriod REAL Time period in seconds for calculation (sampling interval) of the
rate of change value. Each time the sampling interval expires, a
new sample of In is stored, and ROC is re-calculated. Instead of an
enable bit like other conditions in the analog alarm, the rate-of-
change detection is enabled by putting any non-zero value in the
ROCPeriod.
Valid = 0.0 to 32767.0
Default = 0.0.

Output Parameter Data Type Description

EnableOut BOOL Indicates if instruction is enabled. Cleared to false if ROC
overflows.
HHAlarm BOOL The high-high alarm indicator.
Default = false
HAlarm BOOL The high alarm indicator.
Default = false
LAlarm BOOL The low alarm indicator.
Default = false
LLAlarm BOOL The low-low alarm indicator.
Default = false
ROCPosAlarm BOOL The rate-of-change positive alarm indicator.
Default = false
ROCNegAlarm BOOL The rate-of-change negative alarm indicator.
Default = false
ROC REAL The rate-of-change output.
Status DINT Status of the function block.
InstructFault (Status.0) BOOL The instruction detected one of the following execution errors.
This is not a minor or major controller error. Check the remaining
status bits to determine what occurred.
DeadbandInv (Status.1) BOOL Invalid Deadband value.
ROCPosLimitInv (Status.2) BOOL Invalid ROCPosLimit value.
ROCNegLimitInv (Status.3) BOOL Invalid ROCNegLimit value.
ROCPeriodInv (Status.4) BOOL Invalid ROCPeriod value.
Description
The ALM instruction provides alarm indicators for high-high, high, low, low-low,
rate-of-change positive, and rate-of-change negative. An alarm deadband is
available for the high-high to low-low alarms. A user-defined period for
performing rate-of-change alarming is also available.
High-high to Low-low Alarm
The high-high and low-low alarm algorithms compare the input to the alarm limit
and the alarm limit plus or minus the deadband.

Rate-of-change Alarm
The rate-of-change (ROC) alarm compares the change of the input over the
ROCPeriod to the rate-of-change limits. The ROCPeriod provides a type of
deadband for the rate-of-change alarm. For example, define an ROC alarm limit of
2OF/second with a period of execution of 100 ms. If you use an analog input
module with a resolution of 1OF, every time the input value changes, an ROC
alarm is generated because the instruction calculates an effective rate of
10°F/second. However, enter an ROCPeriod of 1 sec and the instruction only
generates an alarm if the rate truly exceeds the 2OF/second limit.
The ROC alarm calculates the rate-of-change as:
The instruction performs this calculation when the ROCPeriod expires. Once the
instruction calculates the ROC, it determines alarms as:
Monitoring the ALM Instruction
There is an operator faceplate available for the ALM instruction.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Common Attributes for operand-related

faults.

Execution
Function Block
Condition/State Action Taken

Prescan Rung-condition-in bits are cleared to false.
Rung-condition-in is false Rung-condition-in bits are cleared to false.
Rung-condition-in is true Rung-condition-in bits are set to true.
The instruction executes.
Postscan Rung-condition-in bits are cleared to false.
Structured Text

Prescan See Prescan in the Function Block table.
Normal Execution See Rung-condition-in is true in the Function Block table.
Postscan See Postscan in the Function Block table.
Example
The ALM instruction is typically used either with analog input modules (such as
1771 I/O modules) that do not support on-board alarming, or to generate alarms
on a calculated variable. In this example, an analog input from a 1771-IFE module
is first scaled to engineering units using the SCL instruction. The Out of the SCL
instruction is an input to the ALM instruction to determine whether to set an
alarm. The resulting alarm output parameters could then be used in your program
and/or viewed on an operator interface display.
Function Block
Structured Text
SCL_01.IN := Input0From1771IFE;

SCL(SCL_01);
ALM_01.IN := SCL_01.Out;
ALM(ALM_01);
See also
Common Attributes on page 537
Structured Text Syntax on page 508
Function Block Faceplate Controls on page 552
Discrete 3-State Device This information applies to the CompactLogix 5370, ControlLogix 5570,
(D3SD) CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The D3SD instruction controls a discrete device having three possible states, such
as fast/slow/off or forward/stop/reverse.
Available Languages
Ladder Diagram

Function Block
Structured Text
D3SD(D3SD_tag)
Operands
Structured Text

D3SD tag DISCRETE_3STATE structure D3SD structure
Function Block

D3SD tag DISCRETE_3STATE structure D3SD structure

DISCRETE_3STATE Structure
Input Parameter Data Description

Type
EnableIn BOOL Enable input. If false, the instruction does not execute and outputs are not
updated.
Default is true.
Prog0Command BOOL Program state 0 command. This input determines the device state when the
device is in Program control. If true, the device is commanded to the 0 state.
Default is false.
Default is false.
Default is false.
Oper0Req BOOL Operator state 0 request. Set to true by the operator interface to place the device
into the 0 state when the device is in Operator control.
Default is false.
Oper1Req BOOL Operator state 1 request. Set true by the operator interface to place the device into
the 1 state when the device is in Operator control.
Default is false.
Oper2Req BOOL Operator state 2 request. Set to true by the operator interface to place the device
into the 2 state when the device is in Operator control.
Default is false.
State0Perm BOOL State 0 permissive. Unless in Hand or Override mode, this input must be true for
the device to enter the 0 state. This input has no effect if the device is already in
the 0 state.
Default is true.
the 1 state.
Default is true.
the 2 state.
Default is true.
FB0 BOOL The first feedback input available to the instruction.
Default is false.
FB1 BOOL The second feedback input available to the instruction.
Default is false.
FB2 BOOL The third feedback input available to the instruction.
Default is false.
FB3 BOOL The fourth feedback input available to the instruction.
Default is false.
HandFB0 BOOL Hand feedback state 0. This input from a field hand/off/auto station shows the
requested state of the field device. True indicates the field device is being
requested to enter the 0 state; false indicates the field device is being requested to
enter some other state.
Default is false.


Type
Default is false.
Default is false.
FaultTime REAL Fault time value. Configure the value in seconds of the time to allow the device to
reach a newly commanded state. Set FaultTime = 0 to disable the fault timer. If
this value is invalid, the instruction assumes a value of zero and sets the
appropriate bit in Status.
Valid = any float 0.0
Default = 0.0
FaultAlarmLatch BOOL Fault alarm latch input. When true and FaultAlarm is true, latch FaultAlarm. To
unlatch FaultAlarm, set FaultAlmUnlatch to true or clear FaultAlarmLatch to false.
Default is false.
FaultAlmUnLatch BOOL Fault alarm unlatch input. Set this input to true when FaultAlarmLatch is set to
unlatch FaultAlarm. The instruction clears this input to false.
Default is false.
OverrideOnInit BOOL Override on initialization request. If this bit is true, then during instruction first
scan, the instruction is placed in Operator control with Override true and Hand
false. If ProgHandReq is true, then Override is cleared to false and Hand is set to
true.
Default is false.
OverrideOnFault BOOL Override on fault request. Set this value to true if the device should go to Override
mode and enter the Override State on a fault alarm. After the fault alarm is
removed, the instruction is placed in Operator control.
Default is false.
Out0State0 BOOL Output 0 state 0 input. This value determines the value of Output0 when the
device is in the 0 state.
Default is false.
Default is false.
Default is false.
Default is false.
Default is false.
Default is false.


Type
Default is false.
Default is false.
Default is false.
OverrideState DINT Override state input. Set this input to indicate the state of the device when in
Override mode.
2 = Device should go to the 2 state
An invalid value sets the appropriate bit in Status.
Valid = 0 to 2
Default = 0
FB0State0 BOOL Feedback 0 state 0 input. This value determines the expected value of FB0 when
the device is in the 0 state.
Default is false.
Default is false.
Default is false.
Default is false.
Default is false.
Default is false.
Default is false.
Default is false.
Default is false.
Default is false.
Default is false.


Type
Default is false.
ProgProgReq BOOL Program program request. Set to true by the user program to request Program
control. Ignored if ProgOperReq is true. Holding this true and ProgOperReq false
locks the instruction in Program control.
Default is false.
ProgOperReq BOOL Program operator request. Set to true by the user program to request operator
control. Holding this true locks the instruction in Operator control.
Default is false.
ProgOverrideReq BOOL Program override request. Set to true by the user program to request the device to
enter Override mode. Ignored if ProgHandReq is true.
Default is false.
ProgHandReq BOOL Program hand request. Set to true by the user program to request the device to
enter Hand mode.
Default is false.
OperProgReq BOOL Operator program request. Set to true by the operator interface to request
Program control. The instruction clears this input to false.
Default is false.
OperOperReq BOOL Operator operator request. Set to true by the operator interface to request
Operator control. The instruction clears this input to false.
Default is false.
ProgValueReset BOOL Reset program control values. When true, all the program request inputs are
cleared to false at each execution of the instruction.
Default is false.

EnableOut BOOL Indicates if instruction is enabled.
Out0 BOOL The first output of the instruction.
Out1 BOOL The second output of the instruction.
Out2 BOOL The third output of the instruction.
Device0State BOOL Device state 0 output. True when the device
is commanded to the 0 state and the
feedback indicates the device really is in the
0 state.
1 state.
2 state.
Command0Status BOOL Device state 0 command status. True when
the device is being commanded to the 0
state; false when the device is being
commanded to some other state.


FaultAlarm BOOL Fault alarm output. True if the device has
been commanded to a new state, and the
FaultTime has expired without the feedback
indicating that the new state has actually
been reached. Also set to true if, after
reaching a commanded state, the feedbacks
suddenly indicate that the device is no
longer in the commanded state.
ModeAlarm BOOL Mode alarm output. True if the device is in
operator control and a ProgxCommand input
requests a state which is different from the
state currently commanded by the operator.
This alarm is intended as a reminder that a
device was left in Operator control.
ProgOper BOOL Program/operator control indicator. True
when in Program control. False when in
Operator control.
Override BOOL Override mode. True when the device is in
the Override mode.
Hand BOOL Hand mode. True when the device is in the
Hand mode.
InstructFault (Status.0) BOOL The instruction detected one of the following
execution errors. This is not a minor or major
controller error. Check the remaining status
bits to determine what occurred.
FaultTimeInv (Status.1) BOOL Invalid FaultTime value. The instruction sets
FaultTime = 0.
OverrideStateInv (Status.2) BOOL The Override value is out of range. It
prevents the instruction from entering the
Override state.
ProgCommandInv (Status.3) BOOL Multiple program state command bits are set
at the same time. Refer to Commanded State
in Program Control section.
OperReqInv (Status.4) BOOL Multiple operator state request bits are set at
the same time. Refer to Commanded State in
Program Control section.
HandCommandInv (Status.5) BOOL Multiple hand feedback state request bits are
set at the same time.

Description
The D3SD instruction controls a discrete device having three possible states, such
as fast/slow/off or forward/stop/reverse. Typical discrete devices of this nature
include feeder systems, and reversible motors.
No
Major/Minor Faults

faults.
Execution
Function Block

Prescan EnableIn and EnableOut bits are cleared to false.
Tag.EnableIn is false EnableIn and EnableOut bits are cleared to false.
Tag.EnableIn is true EnableIn and EnableOut bits are set to true.
The instruction executes
Instruction first run Set ProgOper to Operator Mode.
Set Command0Status to True.
Set Command1Status to False.
Set Command2Status to False.
Instruction first scan The fault timer is cleared.
ModeAlarm is cleared to false.
All the operator request inputs are cleared to false.
If ProgValueReset is true, all the program request inputs are
cleared to false.
When OverrideOnInit is true, ProgOper is cleared to false(Operator
control).
If ProgHandReq is false and OverrideOnInit is true, Hand is cleared
to false and Override is set to true (Override mode).
If ProgHandReq is true, Hand is set to true and Override is cleared
to false(Hand mode).
Postscan EnableIn and EnableOut bits are cleared to false.

Structured Text
In Structured Text, EnableIn is always true during normal scan. Therefore, if the
instruction is in the control path activated by the logic it will execute.

Normal Execution See Tag.EnableIn is true in the Function Block table.
Examples
The D3SD instruction is typically used to control 3-state devices such as

high/low/off feed systems. In this example, the D3SD instruction controls a feed
system consisting of a pair of solenoid valves adding vegetable oil to a batch tank.
One of the valves is on a large diameter feed pipe into the batch tank, and the
other valve is plumbed in parallel on a small diameter feed pipe. When oil is first
added, the D3SD instruction is commanded to the fast feed state (state 2) where
both valves are opened. When the oil added approaches the target amount, the
D3SD instruction is commanded to the slow feed state (state 1) where the "large
valve" is closed and the "small valve" is kept open. When the target is reached, the
D3SD instruction is commanded to go to the off state (state 0) and both valves are
closed. As long as the D3SD instruction is in Program control, the valves open
according to the CloseOilFeed, SlowOilFeed, and FastOilFeed inputs. The
operator can also take Operator control of the feed system if necessary. The
solenoid valves in this example have limit switches which indicate when the valves
are fully closed or opened. These switches are wired into the FB0, FB1, FB2, and
FB3 feedback inputs. This allows the D3SD instruction to generate a FaultAlarm
if the solenoid valves do not reach their commanded states within the configured
FaultTime.

Function Block
Structured Text
OilFeedController.Prog0Command := ClosedOilFeed;
OilFeedController.Prog1Command := SlowOilFeed;
OilFeedController.Prog1Command := FastOilFeed;
OilFeedController.FB0 := SmallOilValveClosed;
OilFeedController.FB1 := SmallOilValveOpened;
OilFeedController.FB2 := LargeOilValveClosed;
OilFeedController.FB3 := LargeOilValveOpened;
D3SD(OilFeedController);
SmallOilValve := OilFeedController.Out0;
LargeOilValve := OilFeedController.Out1;

Switch Between Program Control and Operator Control
The following diagram shows how the D3SD instruction changes between
Program control and Operator control.
(1) The instruction remains in Operator control mode when ProgOperReq is

true.
Commanded State in Program Control
The following table shows how the D3SD instruction operates when in Program
control.
Prog0 Prog1 Prog2 State0 State1 State2

Command Command Command Perm Perm Perm Description
false false true either either true Command0Status is cleared to false
Command1Status is cleared to false
Command2Status is set to true
false true false either true either Command0Status is cleared to false
true false false true either either Command0Status is set to true
If more than one program command input is true:
• The instruction sets the appropriate bit in Status

• If Override and Hand are cleared to false, the instruction holds the previous
state

Commanded State in Operator Control
The following table shows how the D3SD instruction operates when in Operator
control.
State1
Oper0Req Oper1Req Oper2Req State0 Perm Perm State2 Perm Description
false false true either either true Command0Status is cleared to false
false true false either true either Command0Status is cleared to false
true false false true either either Command0Status is set to true
If more than one operator command input is true:
• The instruction sets the appropriate bit in Status

• If Override and Hand are cleared to false, the instruction holds the previous
state
After every instruction execution, the instruction:
• Clears all the operator request inputs

• If ProgValueReset is true, clears all the program request inputs to false
Hand Mode or Override Mode
The following table describes how the D3SD instruction determines whether to
operate in Hand or Override mode.
ProgHandReq ProgOverrideReq FaultAlarm and OverrideOnFault Description

true either either Hand mode
Hand is set to true
Override is cleared to false
false true either Override mode
Hand is cleared to false
Override is set to true
false either true Override mode
When Override is set, it takes precedence over Program and Operator control.
The following table describes how the Override mode affects the commanded
state.

Override Override State Description

true 2 Command0Status is cleared to false
true 1 Command0Status is cleared to false
true 0 Command0Status is set to true
If OverrideState is invalid, the instruction sets the appropriate bit in Status and
does not enter the override state.
When Hand is true, it takes precedence over Program and Operator control. The
following table describes how the Hand mode affects the commanded state.
Hand HandFB0 HandFB1 HandFB2 Description

true false false true Command0Status is cleared to false
true false true false Command0Status is cleared to false
true true false false Command0Status is set to true
If more than one HandFB input is true, the instruction sets the appropriate bit in
Status and, if Hand is true, the instruction holds the previous state.

Output State
The D3SD output state is based on the state of the command status.
CommandStatus Output State

Command0Status is true Out0 = Out0State0
Out1 = Out1State0
Out2 = Out2State0
Command0Status is true and Stop and clear the fault timer.
FB0 = FB0State0 and Device0State is set to true
FB1 = FB1State0 and
FB2 = FB2State0 and
FB3 = FB3State0
Out1 = Out1State1
Out2 = Out2State1
FB1 = FB1State1 and
FB2 = FB2State1 and
FB3 = FB3State1
Out1 = Out1State2
Out2 = Out2State2
FB1 = FB1State2 and
FB2 = FB2State2 and
FB3 = FB3State2
Fault Alarm Conditions
The D3SD instruction checks for these fault alarm conditions.
Fault alarm condition resulting from Rules

Device state was commanded to change, Start the fault timer when Command0Statusn Command0Statusn-1 or
but the feedback did not indicate that the Command1Statusn Command1Statusn-1 or Command2Statusn
desired state was actually reached within Command2Statusn-1
the FaultTime Set FaultAlarm when the fault timer done and FaultTime > 0.0
The device unexpectedly left a state Set FaultAlarm to true when the fault timer is not timing and one of the
(according to the feedback) without following conditions is satisfied:
being commanded to Command0Status is true and Device0State is false
Command1Status is true and Device1State is false
Command2Status is true and Device2State is false

If there is no fault present, FaultAlarm is cleared to false if one of the following

conditions is met:
• Command0Status is true and Device0State is true

• FaultTime 0
FaultAlarm cannot be cleared to false when FaultAlarmLatch is true, unless

FaultAlmUnlatch is true and no fault is present.
Mode Alarm Conditions
The mode alarm reminds an operator that a device has been left in Operator
control. The mode alarm only turns on when, in Operator control mode, the
program tries to change the state of the device from the operator’s commanded
state. The alarm does not turn on if an operator places a device in Operator
control mode and changes the state. The D3SD instruction checks for mode alarm
conditions, using these rules.
ModeAlarm is When
true Prog2Command Prog2Commandn-1 and
Prog2Command Command2Status or
Prog1Command Prog1Commandn-1 and
Prog1Command Command1Status or
Prog0Command Prog1Commandn-1 and
Prog0Command Command0Status
false Prog2Command = Command2Status and
Prog1Command = Command1Status and
Prog0Command = Command0Status or
The device is in Override, Hand, or Program control mode
See also

Discrete 2-State Device This information applies to the CompactLogix 5370, ControlLogix 5570,
(D2SD) CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The D2SD instruction controls a discrete device which has only two possible
states (such as on/off or open/closed).
Available Languages
Ladder Diagram
Function Block
Structured Text
D2SD(D2SD_tag)
Operands
There are data conversion rules for mixed data types within an instruction. See
Data Conversion.

Structured Text

D2SD tag DISCRETE_2STATE Structure D2SD structure
Function Block

D2SD tag DISCRETE_2STATE Structure D2SD structure
DISCRETE_2STATE Structure

EnableIn BOOL Enable input. If false, the instruction does not execute and
outputs are not updated.
Default is true.
ProgCommand BOOL Used to determine CommandStatus when the device is in
Program control. When true, the device is commanded to
the 1 state; when false, the device is commanded to the 0
state.
Default is false.
Oper0Req BOOL Operator state 0 request. Set by the operator interface to
place the device in the 0 state when the device is in
Operator control.
Default is false.
Oper1Req BOOL Operator state 1 request. Set by the operator interface to
place the device in the 1 state when the device is in
Operator control.
Default is false.
State0Perm BOOL State 0 permissive. Unless in Hand or Override mode, this
input must be set for the device to enter the 0 state. This
input has no effect for a device already in the 0 state.
Default is true.
State1Perm BOOL State 1 permissive. Unless in the Hand or Override mode,
this input must be set for the device to enter the 1 state.
This input has no effect for a device already in the 1 state.
Default is true.
FB0 BOOL The first feedback input available to the D2SD instruction.
Default is false.
FB1 BOOL The second feedback input available to the D2SD
instruction.
Default is false.
HandFB BOOL Hand feedback input. This input is from a field
hand/off/auto station and it shows the requested state of
the field device. When true, the field device is being
requested to enter the 1 state; when false, the field device
is being requested to enter the 0 state.
Default is false.

FaultTime REAL Fault time value. Configure the value in seconds of the
time to allow the device to reach a newly commanded
state. Set FaultTime = 0 to disable the fault timer. If this
value is invalid, the instruction assumes a value of zero
and sets the appropriate bit in Status.
Default = 0.0
FaultAlarmLatch BOOL Fault alarm latch input. When true and FaultAlarm is true,
latch FaultAlarm. To unlatch FaultAlarm set
FaultAlmUnlatch to true or clear FaultAlarmLatch to false.
Default is false.
FaultAlmUnLatch BOOL Fault alarm unlatch input. Set FaultAlmUnLatch when
FaultAlarmLatch is set to unlatch FaultAlarm. The
instruction clears this input to false.
Default is false.
OverrideOnInit BOOL Override on initialization request. If this bit is true, then
during instruction first scan, the 2-state device is placed in
Operator control, Override is set to true, and Hand is
cleared to false. If ProgHandReq is true, then Override is
cleared to false and Hand is set to true.
Default is false.
OverrideOnFault BOOL Override on fault request. Set OverrideOnFault to true if
the device should go to Override mode and enter the
OverrideState on a fault alarm. After the fault alarm is
removed, the 2-state device is placed in Operator control.
Default is false.
OutReverse BOOL Reverse default out state. The default state of Out is
cleared to false when commanded to state 0, and set to
true when commanded to state 1. When OutReverse is
true, Out is set to true when commanded to state 0, and
cleared to false when commanded to state 1.
Default is false.
OverrideState BOOL Override state input. Configure this value to specify the
state of the device when the device is in Override mode.
True indicates the device should go to the 1 state; false
indicates the device should go to the 0 state.
Default is false.
FB0State0 BOOL Feedback 0 state 0 input. Configure the state of the FB0
when the device is in the 0 state.
Default is false.
Default is false.
Default is false.
Default is false.
ProgProgReq BOOL Program program request. Set to true by the user
program to request Program control. Ignored if
ProgOperReq is true. Holding this true and ProgOperReq
false locks the instruction into Program control.
Default is false.

ProgOperReq BOOL Program operator request. Set to true by the user

program to request Operator control. Holding this true
locks the instruction into Operator control.
Default is false.
ProgOverrideReq BOOL Program override request. Set to true by the user program
to request the device to enter Override mode. Ignored if
ProgHandReq is true.
Default is false.
ProgHandReq BOOL Program hand request. Set to true by the user program to
request the device to enter Hand mode.
Default is false.
OperProgReq BOOL Operator program request. Set to true by the operator
interface to request Program control. The instruction
clears this input to false.
Default is false.
OperOperReq BOOL Operator operator request. Set to true by the operator
interface to request Operator control. The instruction
clears this input to false.
Default is false.
ProgValueReset BOOL Reset program control values. When true, all the program
request inputs are cleared to false at each execution of the
instruction.
Default is false.

Out BOOL The output of the 2-state instruction.
Device0State BOOL Device 0 state output. Set to true when the device is
commanded to the 0 state and the feedbacks indicate the
device really is in the 0 state.
Device1State BOOL Device 1 state output. Set to true when the device is
commanded to the 1 state and the feedbacks indicate the
device really is in the 1 state.
CommandStatus BOOL Command status output. Set to true when the device is
being commanded to the 1 state and cleared when the
device is being commanded to the 0 state.
FaultAlarm BOOL Fault alarm output. Set to true if the device was
commanded to a new state and the FaultTime has expired
without the feedbacks indicating that the new state has
actually been reached. Also set to true if, after reaching a
commanded state, the feedbacks suddenly indicate that
the device is no longer in the commanded state.
ModeAlarm BOOL Mode alarm output. Set to true if the device is in Operator
control and a program command changes to a state which
is different from the state currently commanded by the
operator. This alarm is intended as a reminder that a
device was left in Operator control.
ProgOper BOOL Program/Operator control indicator. True when in
Program control. False when in Operator control.
Override BOOL Override mode. True when the device is in the Override
mode.

Hand BOOL Hand mode. True when the device is in the Hand mode.
InstructFault (Status.0) BOOL The instruction detected one of the following execution
errors. This is not a minor or major controller error. Check
the remaining status bits to determine what occurred.
FaultTimeInv (Status.1) BOOL Invalid FaultTime value. The instruction sets FaultTime =
0.
OperReqInv (Status.2) BOOL Both operator state request bits are true.
Description
The D2SD instruction controls a discrete device which has only two possible
states (such as on/off or open/closed). Typical discrete devices of this nature
include motors, pumps, and solenoid valves.
Monitoring the D2SD Instruction
There is an operator faceplate available for the D2SD instruction.
No
Major/Minor Faults

faults.
Execution
Function Block

Instruction first run Set ProgOper to Operator Mode. Set CommandStatus to False.
Instruction first scan Set EnableOut to true.
ModeAlarm and operator request inputs are cleared to false,
If ProgValueReset is true, all the program request inputs are cleared to
false.
When OverrideOnInit is true, ProgOper is cleared to false (Operator
control).
If ProgHandReq is cleared and OverrideOnInit is set, clear Hand and set
Override (Override mode).
If ProgHandReq is set, set Hand and clear Override (Hand mode).

Structured Text
In Structured Text, EnableIn is always true during normal scan. Therefore, if the
instruction is in the control path activated by the logic it will execute.

Examples
SD instruction is typically used to control on-off or open-close devices such as

pumps or solenoid valves. In this example, the D2SD instruction controls a
solenoid valve adding corn syrup to a batch tank. As long as the D2SD instruction
is in Program control, the valve opens when the AddSyrup input is set. The
operator can also take Operator control of the valve to open or close it if necessary
The solenoid valve in this example has limit switches that indicate when the valve
is fully closed or opened. These switches are wired into the FB0 and FB1 feedback
inputs. This allows the D2SD instruction to generate a FaultAlarm if the solenoid
valve does not reach the commanded state within the configured FaultTime.
Function Block

Structured Text
SyrupController.ProgCommand := AddSyrup;
SyrupController.FB0 := SyrupValveClosedLimitSwitch;
SyrupController.FB1 := SyrupValveOpenedLimitSwitch;
D2SD(SyrupController);
SyrupValve := SyrupController.Out;
The following diagram shows how the D2SD instruction changes between
(1) The instruction remains in Operator control mode when ProgOperReq is

true.

Commanded State in Program Control
The following diagram shows how the D2SD instruction operates when in
Program control.
Commanded State in Operator Control
The following diagram shows how the D2SD instruction operates when in
Operator control.
If both Oper0Req and Oper1Req are true:
• The instruction sets the appropriate bit in Status to true

• If Override and Hand are false, the instruction holds the previous state.
After every instruction execution, the instruction:
• Clears all the operator request inputs to false

• If ProgValueReset is true, clears all the program request inputs to false

Hand Mode or Override Mode
The following table describes how the D2SD instruction determines whether to
operate in Hand or Override mode.
FaultAlarm and
ProgHandReq ProgOverrideReq OverrideOnFault Description
true either either Hand mode
Hand is set to true
Override is cleared to false
false true either Override mode
false either true Override mode
When the instruction is in Override mode, CommandStatus = OverrideState.
When the instruction is in Hand mode, CommandStatus = HandFB.
Output State
The D2SD output state is based on the state of the command status.
CommandStatus Output State

false If OutReverse is false, Out is cleared to false
If OutReverse is true, Out is set to true
true If OutReverse is false, Out is set to rue
If OutReverse is true, Out is cleared to false
false and The fault timer is stopped and cleared to 0
FB1 = FB1State0
true and The fault timer is stopped and cleared to 0
FB1 = FB1State1

Fault Alarm Conditions
The D2SD instruction checks for these fault alarm conditions.
Fault alarm condition

resulting from Rules
Device state was commanded to change, but the Start the fault timer when CommandStatus n CommandStatusn-1
feedback did not indicate that the desired state Set FaultAlarm when faulttimer is done and FaultTime > 0.0
was actually reached within the FaultTime
The device unexpectedly left a state (according Set FaultAlarm to true when the fault timer is not timing and one of the
to the feedback) without being commanded to following conditions is satisfied:
CommandStatus is false and Device0State is false
CommandStatus is true and Device1State is false
FaultAlarm is cleared to false if one of the following conditions is met:
• CommandStatus is false and Device0State is true

• CommandStatus is true and Device1State is true
• FaultTime 0
FaultAlarm cannot be cleared to false when FaultAlarmLatch is true, unless

FaultAlmUnlatch is true and no fault is present.
Mode Alarm Conditions
The mode alarm reminds an operator that a device has been left in Operator
control. The mode alarm only turns on when, in Operator control mode, the
program tries to change the state of the device from the operator’s commanded
state. The alarm does not turn on if an operator places a device in Operator
control mode and changes the state. The D2SD instruction checks for mode alarm
conditions, using these rules.
ModeAlarm When
True ProgCommand n ProgCommandn-1 and
ProgCommand n CommandStatus
False ProgCommand = CommandStatus or
the device is in Override, Hand, or Program control mode
See also
Data Conversions on page 541

Deadtime (DEDT) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The DEDT instruction performs a delay of a single input. You select the amount
of deadtime delay.
Available Languages
Ladder Diagram
Function Block
Structured Text
DEDT(DEDT_tag,storage);
Operands
Structured Text

DEDT tag DEADTIME structure DEDT structure
storage REAL array deadtime buffer
Function Block

DEDT tag DEADTIME structure DEDT structure
storage REAL array deadtime buffer

DEADTIME Structure

EnableIn BOOL Enable input. If false, the instruction does
not execute and outputs are not updated.
Default is true.
In REAL The analog signal input to the instruction.
Valid = any float
Default = 0.0
InFault BOOL Bad health indicator for the input. If the
input value is read from an analog input,
then InFault is controlled by fault status on
the analog input. If true, InFault indicates
the input signal has an error, the instruction
sets the appropriate bit in Status, the control
algorithm is not executed, and Out is held.
Default is false.
false = good health
Deadtime REAL Deadtime input to the instruction. Enter the
deadtime in seconds. If this value is invalid,
the instruction assumes a value of zero and
sets the appropriate bit in Status.
Valid = 0.0 to (StorageArray size * DeltaT)
Default = 0.0
Gain REAL Gain input to the instruction. The value of In
is multiplied by this value. This allows
simulation of a process gain.
Valid = any float
Default = 1.0
Bias REAL Bias input to the instruction. The value of In
multiplied by the Gain is added to this value.
This allows simulation of an ambient
condition.
Valid = any float
Default = 0.0
TimingMode DINT Selects timing execution mode.
0 = Period mode
1 = oversample mode
2 = real time sampling mode
Valid = 0 to 2
Default = 0
For more information about timing modes,
see Function Block Attributes.
OversampleDT REAL Execution time for oversample mode.
Valid = 0 to 4194.303 seconds
Default = 0
RTSTime DINT Module update period for real time sampling
mode
Valid = 1 to 32,767ms
Default = 1
RTSTimeStamp DINT Module time stamp value for real time
sampling mode.
Default = 0


EnableOut BOOL Indicates if instruction is enabled. Cleared to
false if Out overflows.
Out REAL The calculated output of the deadtime
algorithm.
DeltaT REAL Elapsed time between updates. This is the
elapsed time in seconds used by the control
algorithm to calculate the process output.
InstructFault BOOL The instruction detected one of the following
(Status.0) execution errors. This is not a minor or major
InFaulted (Status.1) BOOL In health is bad.
DeadtimeInv BOOL Invalid Deadtime value.
(Status.2)
TimingMode BOOL Invalid TimingMode value.
(Status.27) For more information about timing modes, see
Function Block Attributes.
RTSMissed (Status.28) BOOL Only used in real time sampling mode. Set
when
ABS(DeltaT - RTSTime) > 1 millisecond.
RTSTimeInv BOOL Invalid RTSTime value.
(Status.29)
RTSTimeStampInv BOOL Invalid RTSTimeStamp value.
(Status.30)
DeltaTInv (Status.31) BOOL Invalid DeltaT value.
Description
The DEDT instruction uses a data buffer to store delayed data, thereby allowing
any length deadtime desired. The DEDT instruction is designed to execute in a
task where the scan rate remains constant.
To use the DEDT instruction, create a storage array to store the deadtime buffer
to hold the samples of (In x Gain) + Bias. The storage array should be large enough
to hold the largest desired deadtime, using this formula:
StorageArray Size Needed = Maximum Deadtime (secs) / DeltaT (secs)
Servicing the Deadtime Buffer
During runtime, the instruction checks for a valid Deadtime. Deadtime must be
between 0.0 and (StorageArray Size x DeltaT).
If the Deadtime is invalid, the instruction sets an appropriate Status bit and sets
Out = (In x Gain) + Bias.

The deadtime buffer functions as a first-in, first-out buffer. Every time the
deadtime algorithm executes, the oldest value in the deadtime buffer is moved into
Out. The remaining values in the buffer shift downward and the value ((In x
Gain) + Bias) is moved to the beginning of the deadtime buffer. A new value that
is placed in the deadtime buffer appears in the Out after Deadtime seconds.
The number of array elements required to perform the programmed delay is

calculated by dividing Deadtime by DeltaT. If Deadtime is not evenly divisible by
DeltaT, then the number of array elements and the programmed delay are
rounded to the nearest increment of DeltaT. For example, to find the number of
array elements required to perform the programmed delay given Deadtime = 4.25s
and DeltaT = 0.50s:
4.25s / 0.50s = 8.5

rounds up to 9 array elements required
The actual delay applied to the input in this example is:
number of array elements x DeltaT = programmed delay or

9 x 0.5s = 4.5s
Runtime changes to either Deadtime or DeltaT change the point in which values
are moved out of the buffer. The number of elements required to perform the
programmed delay can either increase or decrease. Prior to servicing the deadtime
buffer, the following updates occur:
If the number of required elements needs to increase, the new buffer elements are
populated with the oldest value in the current deadtime buffer.
If the number of required elements needs to decrease, the oldest elements of the
current deadtime buffer are discarded.
Instruction Behavior on InFault Transition
When InFault is true (bad), the instruction suspends execution, holds the last
output, and sets the appropriate bit in Status.
When InFault transitions from true to false, the instruction sets all values in the
deadtime buffer equal to In x Gain + Bias.
No
Major/Minor Faults

faults.

Execution
Function Block


Instruction first run N/A
Instruction first scan N/A
The instruction does not execute, but does validate input
parameters.
Structured Text

Example
In this example, the DEDT instruction simulates a deadtime delay in a simulated

process. The output of the PIDE instruction is passed through a deadtime delay
and a first-order lag to simulate the process. The array DEDT_01array is a REAL
array with 100 elements to support a deadtime of up to 100 samples. For example,
if this routine executes every 100 msec, the array would support a deadtime of up
to 10 seconds.

Function Block
See also
Function Generator (FGEN) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The FGEN instruction converts an input based on a piece-wise linear function.
Available Languages
Ladder Diagram
This instruction is not available in ladder diagram.

Function Block
Structured Text
FGEN(FGEN_tag,X1,Y1,X2,Y2);
Operands
Function Block

FGEN tag FUNCTION_ structure FGEN structure
GENERATOR
X1 REAL array X-axis array, table one. Combine with the Y-axis array, table one to
define the points of the first piece-wise linear curve.
Valid = any float
Y1 REAL array Y-axis array, table one. Combine with the X-axis array, table one to
Valid = any float
X2 REAL array (optional)
X-axis array, table two. Combine with the Y-axis array, table two to
define the points of the second piece-wise linear curve.
Valid = any float
Y2 REAL array (optional)
Y-axis array, table two. Combine with the X-axis array, table two to
Valid = any float

Structured Text

FGEN tag FUNCTION_ structure FGEN structure
GENERATOR
X1 REAL array X-axis array, table one. Combine with the Y-axis array, table one to
Valid = any float
Y1 REAL array Y-axis array, table one. Combine with the X-axis array, table one to
Valid = any float
X2 REAL array (optional)
X-axis array, table two. Combine with the Y-axis array, table two to
Valid = any float
Y2 REAL array (optional)
Y-axis array, table two. Combine with the X-axis array, table two to
Valid = any float
FUNCTION_GENERATOR Structure

EnableIn BOOL Enable input. If false, the instruction does not execute and
Default is true.
Valid = any float
Default = 0.0
XY1Size DINT Number of points in the piece-wise linear curve to use from
table one. If the value is less than one and Select is cleared,
the instruction sets the appropriate bit in Status and the
output is not changed.
Valid = 1 to (smallest of X1 and Y1 array sizes)
Default = 1
XY2Size DINT Number of points in the piece-wise linear curve to use from
table two. If the value is less than one and Select is set, the
instruction sets the appropriate bit in Status and the output
is not changed.
Valid = 0 to (smallest of X2 and Y2 array sizes)
Default = 0
Select BOOL This input determines which table to use. When cleared,
the instruction uses table one; when set, the instruction
uses table two.
Default is cleared.


EnableOut BOOL Indicates if instruction is enabled. Cleared to false on
overflow
Out REAL Output of the instruction.
InstructFault (Status.0) BOOL Instruction generated a fault.
XY1SizeInv (Status.1) BOOL Size of table 1 is invalid or not compatible with the array
size.
XY2SizeInv (Status.2) BOOL Size of table 2 is invalid or not compatible with the array
size.
XisOutofOrder (Status.3) BOOL The X parameters are not sorted.
Description
The following illustration shows how the FGEN instruction converts a twelve-
segment curve.
The X-axis parameters must follow the relationship:
X[1] < X[2] < X[3] < ... < X[XY<n>Size],
where XY<n>Size > 1 and is a number of points in the piece-wise linear curve and
where n is 1 or 2 for the table selected. You must create sorted X-axis elements in
the X arrays.
The Select input determines which table to use for the instruction. When the
instruction is executing on one table, you can modify the values in the other table.
Change the state of Select to execute with the other table.

Before calculating Out, the X axis parameters are scanned. If they are not sorted in
ascending order, the appropriate bit in Status is set and Out remains unchanged.
Also, if XY1Size or XY2Size is invalid, the instruction sets the appropriate bit in
Status and leaves Out unchanged.
The instruction uses this algorithm to calculate Out based on In:
• When In X[1], set Out = Y[1]

• When In > X[XY<n>Size], set Out = Y[XY<n>Size]
• When X[n] < In X[n+1], calculate Out = ((Y[n+1]-Yn)/ (X[n+1]-
Xn))*(In-Xn)+Yn
No
Major/Minor Fault

faults.
Execution
Function Block
Condition Function Block Action

Tag.EnableIn is true EnableIn and EnableOut bits are set to true. The instruction executes.
Postscan EnableIn and EnableOut bits are set to true. The instruction executes.
Structured Text


Examples
Example 1
In this example, the FGEN instruction characterizes a flow signal which is then
totalized using a TOT instruction. The FGEN_01X1 and FGEN_01Y1 arrays are
REAL arrays of 10 elements each to support up to a 9 segment curve. You can use
arrays of any size to support a curve of any desired number of segments.
Example 2
This example passes optional parameters to FGEN instruction.
See also

Lead-Lag (LDLG) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The LDLG instruction provides a phase lead-lag compensation for an input signal.
This instruction is typically used for feedforward PID control or for process
simulations.
Available Languages
Ladder Diagram
Function Block
Structured Text
LDLG(LDLG_tag);
Operands
Function Block

LDLG tag LEAD_LAG Structure LDLG structure
Structured Text

LDLG tag LEAD_LAG Structure LDLG structure

LEAD_LAG Structure

EnableIn BOOL Enable input. If cleared, the instruction does not execute and
Default is set.
Valid = any float
Default = 0.0
Initialize BOOL Request to initialize filter control algorithm. When Initialize is
set, Out = (In x Gain) + Bias.
Default = cleared
Lead REAL The lead time in seconds. Set Lead = 0.0 to disable the lead
control algorithm. If Lead < 0.0, the instruction sets the
appropriate bit in Status and limits Lead to 0.0. If Lead >
maximum positive float, the instruction sets the appropriate
bit in Status.
Default = 0.0
Lag REAL The lag time in seconds. The minimum lag time is DeltaT/2. If
Lag < DeltaT/2, the instruction sets the appropriate bit in
Status and limits Lag to DeltaT/2. If Lag > maximum positive
float, the instruction sets the appropriate bit in Status.
Valid = any float DeltaT/2
Default = 0.0
Gain REAL The process gain multiplier. This value allows the simulation of
a process gain. The In signal is multiplied by this value. I = (In
x Gain) + Bias
Valid = any float
Default = 1.0
Bias REAL The process offset level. This value allows the simulation of an
ambient condition. This value is summed with the results of
the multiplication of In times Gain. I = (In x Gain) + Bias
Valid = any float
Default = 0.0
0 = Periodic rate
1 = Oversample mode
2 = Real-time sampling mode
Valid = 0 to 2
Default = 0
For more information about timing modes, see Function Block
Attributes.
Default = 0
RTSTime DINT Module update period for real time sampling mode
Default = 1
RTSTimeStamp DINT Module time stamp value for real time sampling mode.
Default = 0


EnableOut BOOL Enable output.
Out REAL The calculated output of the algorithm. Math status flags are
used for this output.
DeltaT REAL Elapsed time between updates. This is the elapsed time in
seconds used by the control algorithm to calculate the process
output.
This is not a minor or major controller error. Check the
remaining status bits to determine what occurred.
LeadInv (Status.1) BOOL Lead < minimum value or Lead > maximum value.
LagInv (Status.2) BOOL Lag < minimum value or Lag > maximum value.
TimingModeInv (Status.27) BOOL Invalid TimingMode value.
Attributes.
RTSMissed (Status.28) BOOL Only used in real time sampling mode. Set when
ABS | DeltaT - RTSTime | > 1 (.001 second).
RTSTimeInv (Status.29) BOOL Invalid RTSTime value.
(Status.30)
Description
The LDLG instruction supports one lead and lag in series. The instruction also
allows configurable gain and bias factors. The LDLG instruction is designed to
execute in a task where the scan rate remains constant.
The LDLG instruction uses this equation:
with these parameter limits:
Parameter Limitations
Lead LowLimit = 0.0
HighLimit = maximum positive float
Lag LowLimit = DeltaT/2 (DeltaT is in seconds)
HighLimit = maximum positive float
Whenever the value computed for the output is invalid, NAN, or INF, the
instruction sets Out = the invalid value and sets the Math overflow status flag.

When the value computed for the output becomes valid, the instruction initializes
the internal parameters and sets Out = (In x Gain) + Bias.
Math Status Flags
No
Major/Minor Faults

faults.
Execution
Function Block

Instruction first scan Execute "Out = (In * Gain) + Bias".
Recalculate Lead/Lag coefficients.
Structured Text

Example
The LDLG instruction in this example adds a first-order lag to a simulated

process. Optionally, you could enter a Gain on the LDLG instruction to simulate
a process gain, and you could enter a Bias to simulate an ambient condition.

Function Block
Structured Text
DEDT_01.In := SimulatedLoop.CVEU;
DEDT(DEDT_01,DEDT_01_array);
LDLG_01.In := DEDT_01.Out;
LDLG(LDLG_01);
SimulatedLoop.PV := LDLG_01.Out;
PIDE(SimulatedLoop);
See also
Function Block Attributes on page 491

Enhanced PID (PIDE) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The PIDE instruction provides enhanced capabilities over the standard PID
instruction. The instruction uses the velocity form of the PID algorithm. The gain
terms are applied to the change in the value of error or PV, not the value of error
or PV.
Available Languages
Ladder Diagram
Function Block

Structured Text
PIDE(PIDE_tag);
Operands
Function Block

PIDE tag PID_ENHANCED structure PIDE structure
autotune tag PIDE_AUTOTUNE structure (optional)
autotune structure
Structured Text

PIDE tag PID_ENHANCED structure PIDE structure
PIDE Structure

EnableIn BOOL Enable input. If false, the instruction does not execute and outputs are not updated.
Default is true.
PV REAL Scaled process variable input. This value is typically read from an analog input module.
Valid = any float
Default = 0.0
PVFault BOOL PV bad health indicator. If PV is read from an analog input, then PVFault is normally
controlled by the analog input fault status. When PVFault is true, it indicates the input
signal has an error.
Default is false = "good health"
PVEUMax REAL Maximum scaled value for PV. The value of PV and SP which corresponds to 100 percent
span of the Process Variable.
Valid = PVEUMin < PVEUMax maximum positive float
Default = 100.0
PVEUMin REAL Minimum scaled value for PV. The value of PV and SP which corresponds to 0 percent
span of the Process Variable.
Valid = maximum negative float PVEUMin < PVEUMax
Default = 0.0
SPProg REAL SP program value, scaled in PV units. SP is set to this value when in Program control
and not Cascade/Ratio mode. If the value of SPProg < SPLLimit or > SPHLimit, the
instruction sets the appropriate bit in Status and limits the value used for SP.
Valid = SPLLimit to SPHLimit
Default = 0.0

SPOper REAL SP operator value, scaled in PV units. SP is set to this value when in Operator control
and not Cascade/Ratio mode. If the value of SPOper < SPLLimit or > SPHLimit, the
instruction sets the appropriate bit in Status and limits the value used for SP.
Default = 0.0
SPCascade REAL SP Cascade value, scaled in PV units. If CascadeRatio is true and UseRatio is false, then
SP = SPCascade. This is typically the CVEU of a primary loop. If CascadeRatio and
UseRatio are true, then SP = (SPCascade x Ratio). If the value of SPCascade < SPLLimit
or > SPHLimit, set the appropriate bit in Status and limit the value used for SP.
Default = 0.0
SPHLimit REAL SP high limit value, scaled in PV units. If SPHLimit > PVEUMax, the instruction sets the
Valid = SPLLimit to PVEUMax
Default = 100.0
SPLLimit REAL SP low limit value, scaled in PV units. If SPLLimit < PVEUMin, the instruction sets the
appropriate bit in Status. If SPHLimit < SPLLimit, the instruction sets the appropriate
bit in Status and limits SP using the value of SPLLimit.
Valid = PVEUMin to SPHLimit
Default = 0.0
UseRatio BOOL Allow ratio control permissive. Set to true to enable ratio control when in Cascade/Ratio
mode.
Default is false.
RatioProg REAL Ratio program multiplier. Ratio and RatioOper are set equal to this value when in
Program control. If RatioProg < RatioLLimit or > RatioHLimit, the instruction sets the
appropriate bit in Status and limits the value used for Ratio.
Valid = RatioLLimit to RatioHLimit
Default = 1.0
RatioOper REAL Ratio operator multiplier. Ratio is set equal to this value when in Operator control. If
RatioOper < RatioLLimit or > RatioHLimit, the instruction sets the appropriate bit in
Status and limits the value used for Ratio.
Valid = RatioLLimit to RatioHLimit
Default = 1.0
RatioHLimit REAL Ratio high limit value. Limits the value of Ratio obtained from RatioProg or RatioOper. If
RatioHLimit < RatioLLimit, the instruction sets the appropriate bit in Status and limits
Ratio using the value of RatioLLimit.
Valid = RatioLLimit to maximum positive float
Default = 1.0
RatioLLimit REAL Ratio low limit value. Limits the value of Ratio obtained from RatioProg or RatioOper. If
RatioLLimit < 0, the instruction sets the appropriate bit in Status and limits the value to
zero. If RatioHLimit < RatioLLimit, the instruction sets the appropriate bit in Status and
limits Ratio using the value of RatioLLimit.
Valid = 0.0 to RatioHLimit
Default = 1.0
CVFault BOOL Control variable bad health indicator. If CVEU controls an analog output, then CVFault
normally comes from the analog output’s fault status. When true, CVFault indicates an
error on the output module and the instruction sets the appropriate bit in Status.
CVInitReq BOOL CV initialization request. This signal is normally controlled by the "In Hold" status on
the analog output module controlled by CVEU or from the InitPrimary output of a
secondary PID loop.
Default is false.

CVInitValue REAL CVEU initialization value, scaled in CVEU units. When CVInitializing is true, CVEU =
CVInitValue and CV equals the corresponding percentage value. CVInitValue comes
from the feedback of the analog output controlled by CVEU or from the setpoint of a
secondary loop. Instruction initialization is disabled when CVFaulted or CVEUSpanInv is
true.
Valid = any float
Default = 0.0
CVProg REAL CV program manual value. CV equals this value when in Program Manual mode. If
CVProg < 0 or > 100, or < CVLLimit or > CVHLimit when CVManLimiting is true, the
instruction sets the appropriate bit in Status and limits the CV value.
Valid = 0.0 to 100.0
Default = 0.0
CVOper REAL CV operator manual value. CV equals this value when in Operator Manual mode. If not
Operator Manual mode, the instruction sets CVOper = CV at the end of each instruction
execution. If CVOper < 0 or > 100, or < CVLLimit or > CVHLimit when CVManLimiting
is true, the instruction sets the appropriate bit in Status and limits the CV value.
Valid = 0.0 to 100.0
Default = 0.0
CVOverride REAL CV override value. CV equals this value when in override mode. This value should
correspond to a safe state output of the PID loop. If CVOverride < 0 or >100, the
instruction sets the appropriate bit in Status and limits the CV value.
Valid = 0.0 to 100.0
Default = 0.0
CVPrevious REAL CVn-1 value. If CVSetPrevious is set, CVn-1 equals this value. CVn-1 is the value of CV from
the previous execution. CVPrevious is ignored when in manual, override or hand mode
or when CVInitializing is set. If CVPrevious < 0 or > 100, or < CVLLimit or > CVHLimit
when in Auto or cascade/ratio mode, the instruction sets the appropriate bit in Status
and limits the CVn-1 value.
Valid = 0.0 to 100.0
Default = 0.0
CVSetPrevious BOOL Request to use CVPrevious. If true, CVn-1 = CVPrevious
Default is false.
CVManLimiting BOOL Limit CV in manual mode request. If Manual mode and CVManLimiting is true, CV is
limited by the CVHLimit and CVLLimit values.
Default is false.
CVEUMax REAL Maximum value for CVEU. The value of CVEU which corresponds to 100 percent CV. If
CVEUMax = CVEUMin, the instruction sets the appropriate bit in Status.
Valid = any float
Default = 100.0
CVEUMin REAL Minimum value of CVEU. The value of CVEU which corresponds to 0 percent CV. If
CVEUMax = CVEUMin, the instruction sets the appropriate bit in Status.
Valid = any float
Default = 0.0
CVHLimit REAL CV high limit value. This is used to set the CVHAlarm output. It is also used for limiting
CV when in Auto or Cascade/Ratio mode, or Manual mode if CVManLimiting is true. If
CVHLimit > 100 or < CVLLimit, the instruction sets the appropriate bit in Status. If
CVHLimit < CVLLimit, the instruction limits CV using the value of CVLLimit.
Valid = CVLLimit < CVHLimit 100.0
Default = 100.0
CVLLimit REAL CV low limit value. This is used to set the CVLAlarm output. It is also used for limiting CV
when in Auto or Cascade/Ratio mode, or Manual mode if CVManLimiting is true. If
CVLLimit < 0 or CVHLimit < CVLLimit, the instruction sets the appropriate bit in Status.
If CVHLimit < CVLLimit, the instruction limits CV using the value of CVLLimit.
Valid = 0.0 CVLLimit < CVHLimit
Default = 0.0

CVROCLimit REAL CV rate of change limit, in percent per second. Rate of change limiting is only used
when in Auto or Cascade/Ratio modes or Manual mode if CVManLimiting is true. Enter
0 to disable CV ROC limiting. If CVROCLimit < 0, the instruction sets the appropriate bit
in Status and disables CV ROC limiting.
Valid = 0.0 to maximum positive float
Default = 0.0
FF REAL Feed forward value. The value of feed forward is summed with CV after the zero-
crossing deadband limiting has been applied to CV. Therefore changes in FF are always
reflected in the final output value of CV. If FF < -100 or > 100, the instruction sets the
appropriate bit in Status and limits the value used for FF.
Valid = -100.0 to 100.0
Default = 0.0
FFPrevious REAL FFn-1 value. If FF SetPrevous is set, the instruction sets FFn-1 = FFPrevious. FFn-1 is the
valu eof FF from the previous execution. If FFPrevious < -100 or > 100, the instruction
sets the appropriate bit in Status and limits value used for FFn-1
Valid = -100.0 to 100.0
Default - 0.0
FFSetPrevious BOOL Request to use FFPrevious. If true, FFn-1 = FFPrevious.
Default is false.
HandFB REAL CV Hand feedback value. CV equals this value when in Hand mode and HandFBFault is
false (good health). This value typically comes from the output of a field mounted
hand/ auto station and is used to generate a bumpless transfer out of hand mode. If
HandFB < 0 or > 100, the instruction sets the appropriate bit in Status and limits the
value used for CV.
Valid = 0.0 to 100.0
Default = 0.0
HandFBFault BOOL HandFB value bad health indicator. If the HandFB value is read from an analog input,
then HandFBFault is typically controlled by the status of the analog input channel.
When true, HandFBFault indicates an error on the input module and the instruction sets
the appropriate bit in Status.
WindupHIn BOOL Windup high request. When true, the CV cannot integrate in a positive direction. The
signal is typically obtained from the WindupHOut output from a secondary loop.
Default is false.
WindupLIn BOOL Windup low request. When true, the CV cannot integrate in a negative direction. This
signal is typically obtained from the WindupLOut output from a secondary loop.
Default is false.
ControlAction BOOL Control action request. Set to true to calculate error as E = PV - SP; clear to false to
calculate error as E = SP - PV.
Default is false.
DependIndepend BOOL Dependent/independent control request. When true, use the dependent form of the
PID equation; when false, use the independent form of the equations.
Default is false.
PGain REAL Proportional gain. When the independent form of the PID algorithm is selected, enter
the unitless proportional gain into this value. When the dependent PID algorithm is
selected, enter the unitless controller gain into this value. Enter 0 to disable the
proportional control. If PGain < 0, the instruction sets the appropriate bit in Status and
uses a value of PGain = 0.
Default = 0.0

IGain REAL Integral gain. When the independent form of the PID algorithm is selected, enter the
integral gain in units of 1/minutes into this value. When the dependent PID algorithm
is selected, enter the integral time constant in units of minutes/repeat into this value.
Enter 0 to disable the integral control. If IGain < 0, the instruction sets the appropriate
bit in Status and uses a value of IGain = 0.
Default = 0.0
DGain REAL Derivative gain. When the independent form of the PID algorithm is selected, enter the
derivative gain in units of minutes into this value. When the dependent PID algorithm
is used, enter the derivative time constant in units of minutes into this value. Enter 0 to
disable the derivative control. If DGain < 0, the instruction sets the appropriate bit in
Status and uses a value of DGain = 0.
Default = 0.0
PVEProportional BOOL Proportional PV control request. When true, calculate the proportional term
(DeltaPTerm) using the change in process variable (PVPercent). When false, use the
change in error (EPercent).
Default is false.
PVEDerivative BOOL Derivative PV control request. When true, calculate the derivative term (DeltaDTerm)
using the change in process variable (PVPercent). When false, use the change in error
(EPercent).
Default is true.
DSmoothing BOOL Derivative Smoothing request. When true, changes in the derivative term are
smoothed. Derivative smoothing causes less output "jitters" as a result of a noisy PV
signal but also limits the effectiveness of high derivative gains.
Default is false.
PVTracking BOOL SP track PV request. Set to true to cause SP to track PV when in manual mode. Ignored
when in Cascade/Ratio or Auto mode.
Default is false.
ZCDeadband REAL Zero crossing deadband range, scaled in PV units. Defines the zero crossing deadband
range. Enter 0 to disable the zero crossing deadband checking. If ZCDeadband < 0, the
instruction sets the appropriate bit in Status and disables zero crossing deadband
checking.
Default = 0.0
ZCOff BOOL Zero crossing disable request. Set to true to disable zero crossing for the deadband
calculation.
Default is false.
PVHHLimit REAL PV high-high alarm limit value, scaled in PV units.
Valid = any float
Default = maximum positive float
PVHLimit REAL PV high alarm limit value, scaled in PV units.
Valid = any float
PVLLimit REAL PV low alarm limit value, scaled in PV units.
Valid = any float
Default = maximum negative float
PVLLLimit REAL PV low-low alarm limit value, scaled in PV units.
Valid = any float
PVDeadband REAL PV alarm limit deadband value, scaled in PV units. Deadband is the delta value
between the turn-on and turn-off value for each of the PV alarm limits. If PVDeadband
< 0.0, the instruction sets the appropriate bit in Status and limits PVDeadband to zero.
Default = 0.0

PVROCPosLimit REAL PV positive rate of change alarm limit. The limit value for a positive (increasing) change
in PV, scaled in PV units per seconds. Enter 0.0 to disable positive PVROC alarm
checking. If PVROCPosLimit < 0.0, the instruction sets the appropriate bit in Status and
disables positive PVROC checking.
Default = 0.0 PV/second
PVROCNegLimit REAL PV negative rate of change alarm limit. The limit value for a negative (decreasing)
change in PV, scaled in PV units per seconds. Enter 0.0 to disable negative PVROC alarm
checking. If PVROCNegLimit < 0, the instruction sets the appropriate bit in Status and
disables negative PVROC checking.
Default = 0.0
PVROCPeriod REAL PV rate of change sample period. The time period, in seconds, over which the rate of
change for PV is evaluated. Enter 0 to disable PVROC alarm checking If PVROCPeriod <
0.0, the instruction sets the appropriate bit in Status, and disables positive and negative
PVROC checking.
Default = 0.0 seconds
DevHHLimit REAL Deviation high-high alarm limit value, scaled in PV units. Deviation is the difference in
value between the process variable (PV) and the setpoint (SP). Deviation alarming
alerts the operator to a discrepancy between the process variable and the setpoint
value. If DevHHLimit < 0.0, the instruction sets the appropriate bits in Status and sets
DevHHLimit = 0.0.
DevHLimit REAL Deviation high alarm limit value, scaled in PV units. Deviation is the difference in value
between the process variable (PV) and the setpoint (SP). Deviation alarming alerts the
operator to a discrepancy between the process variable and the setpoint value. If
DevHLimit < 0.0, the instruction sets the appropriate bit in Status and sets DevHLimit
= 0.0.
DevLLimit REAL Deviation low alarm limit value, scaled in PV units. Deviation is the difference in value
between the process variable (PV) and the setpoint (SP). Deviation alarming alerts the
operator to a discrepancy between the process variable and the setpoint value. If
DevLLimit < 0.0, the instruction sets the appropriate bit in Status and sets DevLLimit =
0.0.
DevLLLimit REAL Deviation low-low alarm limit value, scaled in PV units. Deviation is the difference in
value between the process variable (PV) and the setpoint (SP). Deviation alarming
alerts the operator to a discrepancy between the process variable and the setpoint
value. If DevLLLimit < 0.0, the instruction sets the appropriate bit in Status and sets
DevLLLimit = 0.0.
DevDeadband REAL The deadband value for the Deviation alarm limits, scaled in PV units. Deadband is the
delta value between the turn-on and turn-off value for each of the Deviation alarm
limits. If DevDeadband < 0.0, the instruction sets the appropriate bit in Status and sets
DevDeadband = 0.0.
Default = 0.0
AllowCasRat BOOL Allow cascade/ratio mode permissive. Set to true to allow Cascade/Ratio mode to be
selected using either ProgCasRatReq or OperCasRatReq.
Default is false.

ManualAfterInit BOOL Manual mode after initialization request. When true, the instruction is placed in Manual
mode when CVInitializing is true, unless the current mode is Override or Hand. When
ManualAfterInit is false, the instruction’s mode is not changed, unless requested to do
so.
Default is false.
ProgProgReq BOOL Program program request. Set to true by the user program to request Program control.
Ignored if ProgOperReq is true. Holding this true and ProgOperReq false locks the
instruction in Program control. When ProgValueReset is true, the instruction clears this
input to false at each execution.
Default is false.
ProgOperReq BOOL Program operator request. Set to true by the user program to request Operator control.
Holding this true locks the instruction in Operator control. When ProgValueReset is
true, the instruction clears this input to false at each execution.
Default is false.
ProgCasRatReq BOOL Program cascade/ratio mode request. Set to true by the user program to request
Cascade/Ratio mode. When ProgValueReset is true, the instruction clears this input to
false at each execution.
Default is false.
ProgAutoReq BOOL Program auto mode request. Set to true by the user program to request Auto mode.
When ProgValueReset is true, the instruction clears this input to false at each
execution.
Default is false.
ProgManualReq BOOL Program manual mode request. Set to true by the user program to request Manual
mode. When ProgValueReset is true, the instruction clears this input to false ateach
execution.
Default is false.
ProgOverrideReq BOOL Program override mode request. Set to true by the user program to request Override
mode. When ProgValueReset is true, the instruction clears this input to false at each
execution.
Default is false.
ProgHandReq BOOL Program hand mode request. Set to true by the user program to request Hand mode.
This value is usually read as a digital input from a hand/auto station. When
ProgValueReset is true, the instruction clears this input to false at each execution.
Default is false.
OperProgReq BOOL Operator program request. Set to true by the operator interface to request Program
control. The instruction clears this input to false at each execution.
Default is false.
OperOperReq BOOL Operator operator request. Set to true by the operator interface to request Operator
control. The instruction clears this input to false at each execution.
Default is false.
OperCasRatReq BOOL Operator cascade/ratio mode request. Set to true by the operator interface to request
Cascade/ Ratio mode. The instruction clears this input to false at each execution.
Default is false.
OperAutoReq BOOL Operator auto mode request. Set to true by the operator interface to request Auto
mode. The instruction clears this input to false at each execution.
Default is false.
OperManualReq BOOL Operator manual mode request. Set to true by the operator interface to request Manual
mode. The instruction clears this input to false at each execution.
Default is false.
ProgValueReset BOOL Reset program control values. When true, all the program request inputs are cleared to
false by the instruction at each execution. When true and in Operator control, the
instruction sets SPProgram = SP and CVProgram = CV.
Default is false.


0 = Periodic mode
1 = Oversample mode
2 = Real time sampling mode
For more information about timing modes, see Function Block Attributes.
Valid = 0 to 2
Default = 0
Default = 0
Default = 1
Default = 0
AtuneAcquire BOOL Acquire PIDE AtuneData request.
Default is false.
AtuneStart BOOL Start Autotune request.
Default is false.
AtuneUseGains BOOL Use Autotune gains request.
Default is false.
AtuneAbort BOOL Abort Autotune request.
Default is false.
AtuneUnacquire BOOL Unacquire PIDE AtuneData request.
Default is false.

EnableOut BOOL Indicates if instruction is enabled. Cleared to false if CVEU overflows.
CVEU REAL Scaled control variable output. Scaled using CVEUMax and CVEUMin, where
CVEUMax corresponds to 100 percent and CVEUMin corresponds to 0 percent.
This output typically controls an analog output module or a secondary loop.
CVEU = (CV x CVEUSpan / 100) + CVEUMin
CVEU span calculation: CVEUSpan = (CVEUMax - CVEUMin)
CV REAL Control variable output. This value is expressed as 0 to 100 percent. CV is limited
by CVHLimit and CVLLimit when in auto or cascade/ratio mode or manual mode
if CVManLimiting is true. Otherwise this value is limited by 0 and 100 percent.
CVInitializing BOOL Initialization mode indicator. CVInitializing is set to true when CVInitReq is true,
during instruction first scan, and on a true to false transition of CVHealth (bad to
good). CVInitializing is cleared to false after the instruction has been initialized
and CVInitReq is false.
CVHAlarm BOOL CV high alarm indicator. Set to true when the calculated value of
CV > 100 or CVHLimit.
CVLAlarm BOOL CV low alarm indicator. Set to true when the calculated value of
CV < 0 or CVLLimit.
CVROCAlarm BOOL CV rate of change alarm indicator. Set to true when the calculated rate of
change for CV exceeds CVROCLimit.

SP REAL Current setpoint value. The value of SP is used to control CV when in Auto or
Cascade/ Ratio mode.
SPPercent REAL The value of SP expressed in percent of span of PV.
SPPercent = ((SP - PVEUMin) x 100) / PVSpan
PV Span calculation: PVSpan = (PVEUMax - PVEUMin)
SPHAlarm BOOL SP high alarm indicator.
Set to true when the SP > SPHLimit.
SPLAlarm BOOL SP low alarm indicator.
Set to true when the SP < SPLLimit.
PVPercent REAL PV expressed in percent of span.
PVPercent = ((PV- PVEUMin) x 100) / PVSpan
PV Span calculation: PVSpan = (PVEUMax - PVEUMin)
E REAL Process error. Difference between SP and PV, scaled in PV units.
EPercent REAL The error expressed as a percent of span.
InitPrimary BOOL Initialize primary loop command. Set to true when not in Cascade/Ratio mode
or when CVInitializing is true. This signal is normally used by the CVInitReq
input of a primary PID loop.
WindupHOut BOOL Windup high indicator. Set to true when CV high or CV low limit (depending on
the control action) or SP high limit has been reached. This signal is typically
used by the WindupHIn input to prevent the windup of the CV output on a
primary loop.
WindupLOut BOOL Windup low indicator. Set to true when CV high or CV low limit (depending on
the control action) or SP low limit has been reached. This signal is typically used
by the WindupLIn input to prevent the windup of the CV output on a primary
loop.
Ratio REAL Current ratio multiplier.
RatioHAlarm BOOL Ratio high alarm indicator. Set to true when Ratio > RatioHLimit.
RatioLAlarm BOOL Ratio low alarm indicator. Set to true when Ratio < RatioLLimit.
ZCDeadbandOn BOOL Zero crossing deadband indicator. When true the value of CV does not change. If
ZCOff is true, then ZCDeadbandOn is set to true when | E | is within the
ZCDeadband range. If ZCOff is false, then ZCDeadbandOn is set to true when | E |
crosses zero and remains within the ZCDeadband range. ZCDeadbandOn is
cleared to false when | E | exceeds the deadband range or when ZCDeadband =
0.
PVHHAlarm BOOL PV high-high alarm indicator. Set to true when PV PVHHLimit. Cleared to
false when PV < (PVHHLimit - PVDeadband)
PVHAlarm BOOL PV high alarm indicator. Set to true when PV PVHLimit. Cleared to false
when PV < (PVHLimit - PVDeadband)
PVLAlarm BOOL PV low alarm indicator. Set to true when PV PVLLimit. Cleared to false
when PV > (PVLLimit + PVDeadband)
PVLLAlarm BOOL PV low-low alarm indicator. Set to true when PV PVLLLimit. Cleared to
false when PV > (PVLLLimit + PVDeadband)
PVROCPosAlarm BOOL PV positive rate-of-change alarm indicator. Set to true when calculated PV rate-
of-change PVROCPosLimit.
PVROCNegAlarm BOOL PV negative rate-of-change alarm indicator. Set to true when calculated PV
rate-of-change (PVROCNegLimit x -1).
DevHHAlarm BOOL Deviation high-high alarm indicator. Set to true when
PV (SP + DevHHLimit). Cleared to false when
PV < (SP + DevHHLimit - DevDeadband)

DevHAlarm BOOL Deviation high alarm indicator. Set to true when

PV (SP + DevHLimit). Cleared to false when
PV < (SP + DevHLimit - DevDeadband)
DevLAlarm BOOL Deviation low alarm indicator. Set to true when
PV (SP - DevLLimit). Cleared to false when
PV > (SP - DevLLimit + DevDeadband)
DevLLAlarm BOOL Deviation low-low alarm indicator. Set to true when
PV (SP - DevLLLimit). Cleared to false when
PV > (SP - DevLLLimit + DevDeadband)
ProgOper BOOL Program/operator control indicator. Set to true when in Program control.
Cleared to false when in Operator control.
CasRat BOOL Cascade/ratio mode indicator. Set to true when in the Cascade/Ratio mode.
Auto BOOL Auto mode indicator. Set to true when in the Auto mode.
Manual BOOL Manual mode indicator. Set to true when in the Manual mode.
Override BOOL Override mode indicator. Set to true when in the Override mode.
Hand BOOL Hand mode indicator. Set to true when in the Hand mode.
DeltaT REAL Elapsed time between updates. This is the elapsed time in seconds used by the
control algorithm to calculate the process output.
AtuneReady BOOL Set to true when the specified AtuneData has been acquired by the PIDE
instruction.
AtuneOn BOOL Set to true when auto tuning has been initiated.
AtuneDone BOOL Set to true when auto tuning has completed.
AtuneAborted BOOL Set to true when auto tuning has been aborted by the user or due to errors that
occurred during the auto tuning operation.
AtuneBusy BOOL Set to true when the specified AtuneData could not be acquired because it is
currently acquired by another PIDE instruction.
Status1 DINT Status of the function block.
InstructFault BOOL The instruction detected one of the following execution errors. This is not a
(Status1.0) minor or major controller error. Check the remaining status bits to determine
what occurred.
PVFaulted (Status1.1) BOOL Process variable (PV) health bad.
CVFaulted (Status1.2) BOOL Control variable (CV) health bad.
HandFBFaulted BOOL HandFB value health bad.
(Status1.3)
PVSpanInv BOOL Invalid span of PV. PVEUMax £ PVEUMin.
(Status1.4)
SPProgInv BOOL SPProg < SPLLimit or SPProg > SPHLimit. The instruction uses the limited value
(Status1.5) for SP.
SPOperInv BOOL SPOper < SPLLimit or SPOper > SPHLimit. The instruction uses the limited
(Status1.6) value for SP.
SPCascadeInv BOOL SPCascade < SPLLimit or SPCascade > SPHLimit. The instruction uses the
(Status1.7) limited value for SP.
SPLimitsInv BOOL Limits invalid: SPLLimit < PVEUMin, SPHLimit > PVEUMax, or SPHLimit <
(Status1.8) SPLLimit. If SPHLimit < SPLLimit, the instruction limits the value using SPLLimit
RatioProgInv BOOL RatioProg < RatioLLimit or RatioProg > RatioHLimit. The instruction limits the
(Status1.9) value for Ratio.
RatioOperInv BOOL RatioOper < RatioLLimit or RatioOper > RatioHLimit. The instruction limits the
(Status1.10) value for Ratio.

RatioLimitsInv BOOL RatioLLimit < 0 or RatioHLimit < RatioLLimit.

(Status1.11)
CVProgInv BOOL CVProg < 0 or CVProg > 100, or CVProg < CVLLimit or CVProg > CVHLimit
(Status1.12) when CVManLimiting is true. The instruction limits the value for CV.
CVOperInv BOOL CVOper < 0 or CVOper > 100, or CVOper < CVLLimit or CVOper > CVHLimit
(Status1.13) when CVManLimiting is true. The instruction limits the value for CV.
CVOverrideInv (Status1.14) BOOL CVOverride < 0 or CVOverride > 100. The instruction limits the value for CV.
CVPreviousInv (Status1.15) BOOL CVPrevious < 0 or CVPrevious > 100, or CVPrevious < CVLLimit or CVPrevious >
CVHLimit when in Auto or Cascade/Ratio mode. The instruction limits the value
of CVn-1.
CVEUSpanInv BOOL Invalid CVEU span. The instruction uses a value of
(Status1.16) CVEUMax = CVEUMin.
CVLimitsInv BOOL CVLLimit < 0, CVHLimit > 100, or CVHLimit < CVLLimit. If CVHLimit <
(Status1.17) CVLLimit, the instruction limits CV using CVLLimit.
CVROCLimitInv BOOL CVROCLimit < 0. The instruction disables ROC limiting.
(Status1.18)
FFInv (Status1.19) BOOL FF < -100 or FF > 100. The instruction uses the limited value for FF.
FFPreviousInv BOOL FFPrevious < - 100 or FFPrevious > 100. The instruction uses the limited value
(Status1.20) for FFn-1.
HandFBInv BOOL HandFB < 0 or HandFB > 100. The instruction uses the limited value for CV.
(Status1.21)
PGainInv BOOL PGain < 0. The instruction uses a value of PGain = 0.
(Status1.22)
IGainInv BOOL IGain < 0. The instruction uses a value of IGain = 0.
(Status1.23)
DGainInv BOOL DGain < 0. The instruction uses a value of DGain = 0.
(Status1.24)
ZCDeadbandInv BOOL ZCDeadband < 0. The instruction disables zero crossing deadband.
(Status1.25)
PVDeadbandInv BOOL PVDeadband < 0. The instruction limits PVDeadband to zero.
(Status1.26)
PVROCLimitsInv BOOL PVROCPosLimit < 0, PVROCNegLimit < 0, or PVROCPeriod < 0.
(Status1.27)
DevHLLimitsInv BOOL Deviation high-low limits invalid. Low-low limit < 0,
(Status1.28) low limit < 0, high limit < 0, or high-high limit < 0. The instruction uses 0 for
the invalid limit.
DevDeadbandInv BOOL Deviation deadband < 0. The instruction uses a value of DevDeadband = 0.
(Status1.29)
Status2 DINT Timing status of the function block.
TimingModeInv BOOL Invalid TimingMode value.
(Status2.27) For more information about timing modes, see Function Block Attributes.
RTSMissed BOOL Only used in real time sampling mode. Set to true when
(Status2.28) ABS | DeltaT - RTSTime | > 1 (.001 second).
(Status2.29)
(Status2.30)
DeltaTInv BOOL Invalid DeltaT value.
(Status2.31)

Description
The PID algorithm regulates the CV output in order to maintain the PV at the SP
when the instruction executes in Cascade/Ratio or Auto modes.
When ControlAction is set, the calculated value of EPercent and PVPIDPercent

is negated before being used by the control algorithm.
The following table describes how the instruction calculates the PID terms.
PID Term Method of Calculation

proportional The proportional term is calculated using:
• PV when PVEProportional is set or
• Error when PVEProportional is cleared
Set PGain = 0 to disable proportional control.
integral The integral term is calculated using Error. Set IGain = 0 to disable integral control.
Also, setting PGain = 0 when DependIndepend is set will disable integral control.
derivative The derivative term is calculated using:
• PV when PVEDerivative is set or
• Error when PVEDerivative is cleared
Set DGain = 0 to disable derivative control. Also, setting PGain = 0 when
DependIndepend is set will disable derivative control.
Derivative smoothing is enabled when DSmoothing is set and disabled when
DSmoothing is cleared. Derivative smoothing causes less CV output "jitter" as a result of
a noisy PV signal but also limits the effectiveness of high derivative gains.
Computing CV
The PID control algorithm computes the value for CV by summing Delta PTerm,
Delta ITerm, Delta
DTerm, and CV from the previous execution of the instruction, for example CVn-
1. When CVsetPrevious is set,
CVn-1 is set equal to CVPrevious. This lets you preset CVn-1 to a specified value
before computing the value of CV.
CalculatedCV = CVn-1 + D PTerm + DITerm + DDTerm
PIDE Algorithms
The PIDE instruction uses a velocity form PID algorithm similar to that used in
most DCS systems. Some advantages to a velocity form algorithm include:
• Bumpless adaptive gain changes – You can change gains on the fly without
initializing the algorithm.
• Multi-loop control schemes – You can implement cross limiting between
loops by manipulating the CV n-1 term.

Independent Gains Form
In this form of the algorithm, each term of the algorithm (proportional, integral,
and derivative) has a separate gain. Changing one gain only affects that term and
not any of the others, where:
PIDE term: Description:

CV Control variable
E Error in percent of span
∆t Update time in seconds used by the loop
Kp Proportional gain
KI Integral gain in min -1
a larger value of KI causes a faster integral response.
KD Derivative gain in minutes
Dependent Gains Form
This form of the algorithm changes the proportional gain into a controller gain.
By changing the controller gain, you change the action of all three terms
(proportional, integral, and derivative) at the same time, where:

CV Control variable
Kc Controller gain
TI Integral time constant in minutes per repeat a larger value of T1
causes a slower integral response
It takes T1 minutes for the integral term to repeat the action of the
proportional term in response to a step change in error.
TD Derivative time in constant in minutes

CV Control variable


Kp Proportional gain
KI Integral gain in min -1
a larger value of KI causes a faster integral response.
KD Derivative gain in minutes
Determining Which Algorithm to Use
The PIDE equations above are representative of the algorithms used by the PIDE
instruction. You can substitute the change in error values for the change in PV (in
percent of span) for the proportional and derivative terms by manipulating the
parameters PVEProportional and PVEDerivative. By default, the PIDE
instruction uses the change in error for the proportional term and the change in
PV for the derivative term. This eliminates large derivative spikes on changes in
setpoint.
You can convert the gains used between the different PIDE algorithm forms using
these equations:
Each algorithm provides identical control with the appropriate gains. Some people
prefer the independent gains style because they can manipulate individual gains
without affecting the other terms. Others prefer the dependent gains style because
they can, at least to a certain extent, change just the controller gain and cause an
overall change in the aggressiveness of the PID loop without changing each gain
separately.
Monitoring the PIDE Instruction
There is an operator faceplate available for the PIDE instruction.

Autotuning the PIDE Instruction
The Logix Designer application PIDE autotuner provides an open-loop autotuner

built into the PIDE instruction. You can autotune from PanelView terminal or
any other operator interface devices, as well as the Logix Designer application. The
PIDE block has an Autotune Tag (type PIDE_AUTOTUNE) that you specify
for those PIDE blocks that you want to autotune.
The PIDE autotuner is installed with the application, but you need an activation
key to enable it. The autotuner is only supported in function block programming;
it is not available in ladder diagram or structured text programming.
Use the Autotune tab to specify and configure the autotune tag for a PIDE block.
No
Major/Minor Faults

faults.
Execution
Function Block



Instruction first scan If CVFault and CVEUSpanlnv are set,see Processing Faults later in this instruction.
If CVFault and CVEUSpanlnv are cleared:
1. CVInitializing is set
2. If PVFault is set, PVSpanlnv and SPlimitsInv are cleared. See Processing Faults
in this instruction.
3. The PID control algorithm is not executed.
4. The instruction sets CVEU = CVInitValue and CV = corresponding percentage.
5. When CVInitializing and Manual AfterInit are set, the instructions misables
auto and cascade/ratio modes. If the current mode is not Override or Hand
mode, the instruction changes to manual ode.If ManualAfterInit is cleared, the
mode is not changed.
CVEu = CVInitValue
CV n-1 = CV = CVEU - CVEUMin x100

CVEUMax - CVEUMin
CVOper = CV
Structured Text

When CVInitReq is set, or during instruction first scan, or on a set to cleared

transition of CVFault (bad to good), the instruction initializes the CVEU and CV
outputs to the value of CVInitValue. If the timing mode is not oversample and
EnableIn transitions from cleared to set, the instruction initializes the CVEU and
CV values. CVInitialization is cleared after the initialization and when CVInitReq
is cleared.
The CVInitValue normally comes from the analog output’s readback value. The
CVInitReq value normally comes from the "In Hold" status bit on the analog
output controlled by CVEU. The initialization procedure is performed to avoid a
bump at startup in the output signal being sent to the field device.
When using cascaded PID loops, the primary PID loop can be initialized when the
secondary loop is initialized or when the secondary loop leaves the Cascade/Ratio
mode. In this case, move the state of the InitPrimary output and SP output from
the secondary loop to the CVInitReq input and CVInitValue input on the
primary loop.
The instruction does not initialize and the CVEU and CV values are not updated
if CVFault or CVEUSpanInv is set.

Examples
Example 1
The easiest way to implement a PIDE instruction is to create a function block

routine in a program in a periodic task. The default timing mode for the PIDE
instruction is periodic. When the PIDE instruction is used in a periodic task and
in periodic timing mode, it automatically uses the periodic task's update rate as its
delta t update time. All you need to do is wire the process variable analog input
into the PV parameter on the PIDE instruction and wire the CVEU out of the
PIDE instruction into the controlled variable analog output.
Optionally, you can wire the analog input’s fault indicator (if one is available) into
the PVFault parameter on the PIDE instruction. This forces the PIDE into
Manual mode when the analog input is faulted and stops the PIDE CVEU output
from winding up or down when the PV signal is not available.
Function Block

Structured Text
PIDE_01.PV := Local:1:I.Ch0Data;
PIDE_01.PVFault := Local:1:I.Ch0Fault;
PIDE(PIDE_01);
Local:2:)O.Ch0Data :=PIDE_01.CVEU;
Example 2
Cascade control is useful when externally-caused upsets to the controlled variable

occur often, which then cause upsets to the process variable you are trying to
control. For example, try to control the temperature of liquid in a tank by varying
the amount of steam fed into a heating jacket around the tank. If the steam flow
suddenly drops because of an upstream process, the temperature of the liquid in
the tank eventually drops and the PIDE instruction then opens the steam valve to
compensate for the drop in temperature.
In this example, a cascaded loop provides better control by opening the steam valve
when the steam flow drops before the liquid temperature in the tank drops. To
implement a cascaded loop, use a PIDE instruction to control the steam valve
opening based on a process variable signal from a steam flow transmitter. This is
the secondary loop of the cascaded pair. A second PIDE instruction (called the
primary loop) uses the liquid temperature as a process variable and sends its CV
output into the setpoint of the secondary loop. In this manner, the primary
temperature loop asks for a certain amount of steam flow from the secondary
steam flow loop. The steam flow loop is then responsible for providing the amount
of steam requested by the temperature loop in order to maintain a constant liquid
temperature.

Function Block
Structured Text
PrimaryLoop.PV := Local:1:I.CH0Data;
PrimaryLoop.CVInitReq := SecondaryLoop.InitPrimary;
PrimaryLoop.CVInitValue := SecondaryLoop.SP;
PrimaryLoop.WindupHIn := SecondaryLoop.WindupHOut;
PrimaryLoop.WindupLIn := SecondaryLoop.WindupLOut;
PIDE(PrimaryLoop);
SecondaryLoop.PV := Local:1:I.Ch1Data;
SecondaryLoop.SPCascade := PrimaryLoop.CVEU;
PIDE(SecondaryLoop);
Local:2:O.Ch0Data:= SecondaryLoop.CVEU;
For a cascaded pair of loops to work correctly, the secondary loop must have a
faster process response than the primary loop. This is because the secondary loop’s
process must be able to compensate for any upsets before these upsets affect the

primary loop’s process. In this example, if steam flow drops, the steam flow must
be able to increase as a result of the secondary controller’s action before the liquid
temperature is affected.
To set up a pair of cascaded PIDE instructions, set the AllowCasRat input

parameter in the secondary loop. This allows the secondary loop to be placed into
Cascade/Ratio mode. Next, wire the CVEU from the primary loop into the
SPCascade parameter on the secondary loop. The SPCascade value is used as the
SP on the secondary loop when the secondary loop is placed into Cascade/Ratio
mode. The engineering unit range of the CVEU on the primary loop should
match the engineering unit range of the PV on the secondary loop. This lets the
primary loop scale its 0-100% value of CV into the matching engineering units
used for the setpoint on the secondary loop.
The PIDE instruction supports several other features to more effectively support
cascade control. Wire the InitPrimary output on the secondary loop into the
CVInitReq input on the primary loop and wire the SP output of the secondary
into the CVInitValue input on the primary. This sets the CVEU value of the
primary loop equal to the SP of the secondary loop when the secondary loop leaves
Cascade/Ratio mode. This allows a bumpless transfer when you place the
secondary loop back into Cascade/Ratio mode. Also, wire the WindupHOut and
WindupLOut outputs on the secondary loop into the WindupHIn and
WindupLIn inputs on the primary loop. This causes the primary loop to stop
increasing or decreasing, as appropriate, its value of CVEU if the secondary loop
hits a SP limit or CV limit and eliminates any windup on the primary loop if these
conditions occur.
Example 3
Ratio control is typically used to add a fluid in a set proportion to another fluid.
For example, if you want to add two reactants (say A and B) to a tank in a constant
ratio, and the flow rate of reactant A may change over time because of some
upstream process upsets, you can use a ratio controller to automatically adjust the
rate of reactant B addition. In this example, reactant A is often called the
"uncontrolled" flow since it is not controlled by the PIDE instruction. Reactant B
is then called the "controlled" flow.
To perform ratio control with a PIDE instruction, set the AllowCasRat and
UseRatio input parameters. Wire the uncontrolled flow into the SPCascade input
parameter. When in Cascade/Ratio mode, the uncontrolled flow is multiplied by
either the RatioOper (when in Operator control) or the RatioProg (when in
Program control) and the resulting value is used by the PIDE instruction as the
setpoint.

Function Block
Structured Text
PIDE_01.PV := ControlledFlow;
PIDE_01.SPCascade := UncontrolledFlow;
PIDE(PIDE_01);
Local:2:O.Ch0Data := PIDE_01.CVEU;
Switching Between Program Control and Operator Control
The PIDE instruction can be controlled by either a user program or an operator

interface. You can change the control mode at any time. Program and Operator
control use the same ProgOper output. When ProgOper is set, control is Program;
when ProgOper is cleared, control is Operator.

The following diagram shows how the PIDE instruction changes between
(1) The instruction remains in Operator control mode when ProgOperReq is set.
Operating Modes
The PIDE instruction supports the following PID modes.
PID Operating Description

Mode
Cascade/Ratio While in Cascade/Ratio mode the instruction computes the change in CV. The instruction regulates CV to
maintain PV at either the SPCascade value or the SPCascade value multiplied by the Ratio value.
SPCascade comes from either the CVEU of a primary PID loop for cascade control or from the
"uncontrolled" flow of a ratio-controlled loop.
Select Cascade/Ratio mode using either OperCasRatReq or ProgCasRatReq:
Set OperCasRatReq to request Cascade/Ratio mode. Ignored when ProgOper, ProgOverrideReq,
ProgHandReq, OperAutoReq, or OperManualReq is set, or when AllowCasRat is cleared.
Set ProgCasRatReq to request Cascade/Ratio mode. Ignored when ProgOper or AllowCasRat is cleared or
when ProgOverrideReq, ProgHandReq, ProgAutoReq, or ProgManualReq is set.
Auto While in Auto mode the instruction computes the change in CV. The instruction regulates CV to
maintain PV at the SP value. If in program control, SP = SPProg; if in Operator control, SP = SPOper.
Select Auto mode using either OperAutoReq or ProgAutoReq:
Set OperAutoReq to request Auto mode. Ignored when ProgOper, ProgOverrideReq, ProgHandReq, or
OperManualReq is set.
Set ProgAutoReq to request Auto mode. Ignored when ProgOper is cleared or when ProgOverrideReq,
ProgHandReq, or ProgManualReq is set.
Manual While in Manual mode the instruction does not compute the change in CV. The value of CV is
determined by the control. If in Program control, CV = CVProg; if in Operator control, CV = CVOper.
Select Manual mode using either OperManualReq or ProgManualReq:
Set OperManualReq to request Manual mode. Ignored when ProgOper, ProgOverrideReq, or
ProgHandReq is set.
Set ProgManualReq to request Manual mode. Ignored when ProgOper is cleared or when
ProgOverrideReq or ProgHandReq is set.
Override While in Override mode the instruction does not compute the change in CV.
CV = CVOverride, regardless of the control mode. Override mode is typically used to set a "safe state" for
the PID loop.
Select Override mode using ProgOverrideReq:
Set ProgOverrideReq to request Override mode. Ignored when ProgHandReq is cleared.

Hand While in Hand mode the PID algorithm does not compute the change in CV.
CV = HandFB, regardless of the control mode. Hand mode is typically used to indicate that control of the
final control element was taken over by a field hand/auto station.
Select Hand mode using ProgHandReq:
Set ProgHandReq to request hand mode. This value is usually read as a digital input from a hand/auto
station.
The Cascade/Ratio, Auto, and Manual modes can be controlled by a user program
when in Program control or by an operator interface when in Operator control.
The Override and Hand modes have a mode request input that can only be
controlled by a user program; these inputs operate in both Program and Operator
control.
Selecting the Setpoint
Once the instruction determines program or operator control and the PID mode,
the instruction can obtain the proper SP value. You can select the cascade/ratio SP
or the current SP.
Cascade/Ratio SP
The cascade/ratio SP is based on the UseRatio and ProgOper values.

Current SP
The current SP is based on the Cascade/Ratio mode, the PVTracking value, auto
mode, and the ProgOper value.
SP High/Low Limiting
The high-to-low alarming algorithm compares SP to the SPHLimit and SPLLimit

alarm limits. SPHLimit cannot be greater than PVEUMax and SPLLimit cannot
be less than PVEUMin.

Updating the SPOper and SPProg Values
The PIDE instruction makes SPOper = SP or SPProg = SP to obtain bumpless

control switching between Program and Operator control or when switching from
Cascade/Ratio mode.
PV High/Low Alarming
The high-high to low-low alarming algorithm compares PV to the PV alarm limits

and the PV alarm limits plus or minus the PV alarm deadband
(1) During instruction first scan, the instruction clears all the PV alarm outputs.
The instruction also clears the PV alarm outputs and disables the alarming
algorithm when PVFaulted is set.

PV Rate-of-Change Alarming
PV rate-of-change (ROC) alarming compares the change in the value of PV over

the PVROCPeriod against the PV positive and negative rate-of-change limits. The
PVROCPeriod provides a type of deadband for the rate-of-change alarm. For
example, if you use a ROC alarm limit of 2°F/second with a period of execution of
100 ms, and an analog input module with a resolution of 1°F, then every time the
input value changes, a ROC alarm is generated because the instruction sees a rate
of 10°F/second. However, by entering a PVROCPeriod of at least 1 sec, the ROC
alarm is only generated if the rate truly exceeds the 2°F/second limit.
The ROC calculation is only performed when the PVROCPeriod has expired.
The rate-of-change is calculated as:
ElapsedROCPeriod = ElapsedROCPeriod + ElapsedTimeSinceLastExecution
If ElapsedROCPeriod ≥ PVROCPeriod then:
This value: Is:

PVROC
PVROCN-1 PVROCN-1 = PV
ElapsedROCPeriod ElapsedROCPeriod = 0
Once PVROC has been calculated, the PV ROC alarms are determined as follows:
(1) During instruction first scan, the instruction clears the PV ROC alarm
outputs. The instruction also clears the PVROC alarm outputs and disables the
PV ROC alarming algorithm when PVFaulted is set.

Converting the PV and SP Values to Percent
The instruction converts PV and SP to a percent and calculates the error before
performing the PID control algorithm. The error is the difference between the PV
and SP values. When ControlAction is set, the values of EPercent, E, and
PVPIDPercent are negated before being used by the PID algorithm.
(1) PVPIDPercent and Deviation are internal parameters used by the PID control
algorithm.
Deviation High/Low Alarming
Deviation is the difference in value between the process variable (PV) and setpoint
(SP). Deviation alarming alerts the operator to a discrepancy between the process
variable and the setpoint value.

The high-high to low-low alarming algorithm compares the deviation to deviation

alarm limits and the deviation alarm limits plus or minus the deadband.
(1) During instruction first scan, the instruction clears the deviation alarm
outputs. The instruction also clears the deviation alarm outputs and disables the
alarming algorithm when PVFaulted or PVSpanInv is set.
Zero Crossing Deadband Control
You can limit CV such that its value does not change when error remains within
the range specified by ZCDeadband (| E | ≤ ZCDeadband).
When ZCOff is cleared, ZCDeadband > 0, error has crossed zero for the first
(1)
time, (i.e. En >= 0 and En-1 < 0 or when En <= 0 and En-1 > 0), and | En | <=
ZCDeadband, the instruction sets ZCDeadbandOn.

On the transition to Auto or Cascade/Ratio mode, the instruction sets En-1 =

(2)
En.
The instruction disables the zero crossing algorithm and clears ZCDeadband
under these conditions:
• during instruction first scan

• ZCDeadband ≤ 0
• Auto or Cascade/Ratio is not the current mode
• PVFaulted is set
• PVSpanInv is set
Feedforward Control
Compute CV by summing CV from the zero crossing algorithm with ∆FF. The
value of ∆FF = FF – FFn-1. When FFSetPrevious is set, FFn-1=FFPrevious. This
lets you preset FFn-1 to a specified value before the instruction calculates the value
of ∆FF.

Selecting the Control Variable
Once the PID algorithm has been executed, select the CV based on program or
operator control and the current PID mode.
CV Windup Limiting
Limit the CV such that its value cannot increase when WindupHIn is set or
decrease when WindupLIn is set. These inputs are typically the WindupHOut or
WindupLOut outputs from a secondary loop. The WindupHIn and WindupLIn
inputs are ignored if CVInitializing, CVFault, or CVEUSpanInv is set.

CV Percent Limiting
The following diagram illustrates how the instruction determines CV percent

limiting.
(1) During instruction first scan, the instruction clears the alarm outputs.
CV High/Low Limiting
The instruction always performs alarming based on CVHLimit and CVLLimit.

Limit CV by CVHLimit and CVLLimit when in auto or cascade/ratio mode.
When in manual mode, limit CV by CVHLimit and CVLLimit when
CVManLimiting is set. Otherwise limit CV by 0 and 100 percent.

CV Rate-of-Change Limiting
The PIDE instruction limits the rate-of-change of CV when in Auto or

Cascade/Ratio mode or when in Manual mode and CVManLimiting is set. A
value of zero disables CV rate-of-change limiting.
The CV rate-of-change is calculated as:
where DeltaT is in seconds.
Once CV rate-of-change has been calculated, the CV rate-of-change alarms are

determined as follows:
(1) During instruction first scan, the instruction clears the alarm output. The
instruction also clears the alarm output and disables the CV rate-of-change
algorithm when CVInitializing is set.
(2) When in Auto or Cascade/Ratio mode or when in Manual mode and

CVManLimiting is set, the instruction limits the change of CV.

Updating the CVOper and CVProg Values
If not in the Operator Manual mode, the PIDE instruction sets CVOper = CV.
This obtains bumpless mode switching from any control to the Operator Manual
mode.
Primary Loop Control
Primary loop control is typically used by a primary PID loop to obtain bumpless
switching and anti-reset windup when using Cascade/Ratio mode. The primary
loop control includes the initialize primary loop output and the anti-reset windup
outputs. The InitPrimary output is typically used by the CVInitReq input of a
primary PID loop. The windup outputs are typically used by the windup inputs of
a primary loop to limit the windup of its CV output.
(1) During instruction first scan, the instruction sets InitPrimary.
(2) When CVInitializing is set or when not in Cascade/Ratio mode the

instruction sets InitPrimary.
(3) When CVInitializing is cleared and in Cascade/Ratio mode, the instruction

clears InitPrimary.

(4) During instruction first scan, the instruction clears the windup outputs. The
instruction also clears the windup outputs and disables the CV windup algorithm
when CVInitializing is set or if either CVFaulted or CVEUSpanInv is set.
(5) The instruction sets WindupHOut when SPHAlarm is set, or when

ControlAction is cleared and CVHAlarm is set, or when ControlAction is set and
CVLAlarm is set.
The SP and CV limits operate independently. A SP high limit does not prevent
CV from increasing in value. Likewise, a CV high or low limit does not prevent SP
from increasing in value.
(6) The instruction clears WindupHOut when SPHAlarm is cleared, and not
(ControlAction is cleared and CVHAlarm is set), and not (ControlAction is set
and CVLAlarm is set).
(7) The instruction sets WindupLOut when SPLAlarm is set, or when

ControlAction is cleared and CVLAlarm is set, or when ControlAction is set and
CVHAlarm is set.
The SP and CV limits operate independently. A SP low limit does not prevent CV
from increasing in value. likewise a CV low or high limit does not prevent SP from
increasing in value.
(8) The instruction clears WindupLOut when SPLAlarm is cleared and not
(ControlAction is cleared and CVLAlarm is set) and not (ControlAction is set
and CVHAlarm is set).
Processing Faults
The following table describes how the instruction handles execution faults:
Fault Condition Action

CVFaulted is true or Instruction is not initialized, CVInitializing is cleared to false
CVEUSpanInv is true Compute PV and SP percent, calculate error, update internal parameters for EPercent and
PVPIDPercent
PID control algorithm is not executed
Disable the Auto and Cascade/Ratio modes. If Override or Hand is not the current mode, set to
Manual mode.
Set CV to value determined by Program or Operator control and mode (Manual, Override, or
Hand).
PVFaulted is true Disable the Auto and Cascade/Ratio modes. If Override or Hand is not the current mode, set to
Manual mode
PV high-low, PV rate-of-change, and deviation high-low alarm outputs are cleared to false
Set CV to value by determined by Program or Operator control and mode (Manual, Override, or
Hand).

PVSpanInv is true or Disable the Auto and Cascade/Ratio modes. If Override or Hand is not the current mode, set to
SPLimitsInv is true Manual mode
Do not compute PV and SP percent
Set CV to value by determined by Program or Operator control and mode (Manual, Override, or
Hand).
RatioLimitsInv is true If not already in Hand or Override, set to Manual model
and Disable the Cascade/Ratio mode
CasRat is true and Set CV to value determined by Program or Operator control and mode (Manual, Override, or
UseRatio is true Hand).
TimingModeInv is true If not already in Hand or Override, set to Manual mode
or
RTSTimeStampInv is
true or
DeltaTInv is true
See also
Position Proportional This information applies to the CompactLogix 5370, ControlLogix 5570,
(POSP) CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The POSP instruction opens or closes a device by pulsing open or close contacts at
a user defined cycle time with a pulse width proportional to the difference
between the desired and actual positions.
Available Languages
Ladder Diagram

Function Block
Structured Text
POSP(POSP_tag)
Operands
Function Block

POSP tag POSITION_PROP Structure POSP structure
Structured Text

block tag POSITION_PROP Structure POSP structure

POSITION_PROP Structure

EnableIn BOOL Enable input. If false, the instruction does not
execute and outputs are not updated.
Default is true.
SP REAL Setpoint. This is the desired value for the position.
This value must use the same engineering units as
Position.
Valid = any float
Default = 0.0
Position REAL Position feedback. This analog input comes from
the position feedback from the device.
Valid = any float
Default = 0.0
OpenedFB BOOL Opened feedback. This input signals when the
device is fully opened. When true, the open output
is not allowed to turn on.
Default is false.
ClosedFB BOOL Closed feedback. This input signals when the device
is fully closed. When true, the close output is not
allowed to turn on.
Default is false.
PositionEUMax REAL Maximum scaled value of Position and SP.
Valid = any float
Default = 100.0
PositionEUMin REAL Minimum scaled value of Position and SP.
Valid = any float
Default = 0.0
CycleTime REAL Period of the output pulse in seconds. A value of
zero clears both OpenOut and CloseOut. If this value
is invalid, the instruction assumes a value of zero
Valid = any positive float
Default = 0.0
OpenRate REAL Open rate of the device in %/second. A value of
zero clears OpenOut. If this value is invalid, the
instruction assumes a value of zero and sets the
Default = 0.0
CloseRate REAL Close rate of the device in %/second. A value of
zero clears CloseOut. If this value is invalid, the
instruction assumes a value of zero and sets the
Default = 0.0
MaxOnTime REAL Maximum time in seconds that an open or close
pulse can be on. If OpenTime or CloseTime is
calculated to be larger than this value, they are
limited to this value. If this value is invalid, the
instruction assumes a value of CycleTime and sets
Valid = 0.0 to CycleTime
Default = CycleTime

MinOnTime REAL Minimum time in seconds that an open or close

pulse can be on. If OpenTime or CloseTime is
calculated to be less than this value, they are set to
zero. If this value is invalid, the instruction assumes
a value of zero and sets the appropriate bit in
Status.
Valid = 0.0 to MaxOnTime
Default = 0.0
Deadtime REAL Additional pulse time in seconds to overcome
friction in the device. Deadtime is added to the
OpenTime or CloseTime when the device changes
direction or is stopped. If this value is invalid, the
instruction sets the appropriate bit in Status and
uses a value of Deadtime = 0.0.
Valid = 0.0 to MaxOnTime
Default = 0.0

EnableOut BOOL Indicates if instruction is enabled. Cleared to false if
PositionPercent overflows.
OpenOut BOOL This output is pulsed to open the device.
CloseOut BOOL This output is pulsed to close the device.
PositionPercent REAL Position feedback is expressed as percent of the
Position span.
SPPercent REAL Setpoint is expressed as percent of the Position span.
OpenTime REAL Pulse time in seconds of OpenOutput for the current
cycle.
CloseTime REAL Pulse time in seconds of CloseOutput for the current
cycle.
controller error. Check the remaining status bits to
determine what occurred.
CycleTimeInv (Status.1) BOOL Invalid CycleTime value. The instruction uses zero.
OpenRateInv (Status.2) BOOL Invalid OpenRate value. The instruction uses zero.
CloseRateInv (Status.3) BOOL Invalid CloseRate value. The instruction uses zero.
MaxOnTimeInv (Status.4) BOOL Invalid MaxOnTime value. The instruction uses the
CycleTime value.
MinOnTimeInv (Status.5) BOOL Invalid MinOnTime value. The instruction uses zero.
DeadtimeInv (Status.6) BOOL Invalid Deadtime value. The instruction uses zero.
PositionPctInv (Status.7) BOOL The calculated PositionPercent value is out of range.
SPPercentInv (Status.8) BOOL The calculated SPPercent value is out of range.
PositionSpanInv (Status.9) BOOL PositionEUMax = PositionEUMin.

Description
The POSP instruction usually receives the desired position setpoint from a PID
instruction output.
Scaling the Position and Setpoint Values
The PositionPercent and SPPercent outputs are updated each time the instruction
is executed. If either of these values is out of range (less than 0% or greater than
100%), the appropriate bit in Status is set, but the values are not limited. The
instruction uses these formulas to calculate whether the values are in range:
How the POSP Instruction Uses the Internal Cycle Timer
The instruction uses CycleTime to determine how often to recalculate the

duration of Open and Close output pulses. An internal timer is maintained and
updated by DeltaT. DeltaT is the elapsed time since the instruction last executed.
Whenever the internal timer equals or exceeds the programmed CycleTime (cycle
time expires) the Open and Close outputs are recalculated.
You can change the CycleTime at any time.
If CycleTime = 0, the internal timer is cleared to 0, OpenOut is cleared to false

and CloseOut is cleared to false.

Producing Output Pulses
The following diagram shows the three primary states of the POSP instruction.
Calculating Open and Close Pulse Times
OpenOut is pulsed whenever SP > Position feedback. When this occurs, the
instruction sets CloseTime = 0 and the duration for which OpenOut is to be
turned on is calculated as:
If OpenTimen-1 < CycleTime, then add Deadtime to OpenTime.
If OpenTime > MaxOnTime, then limit to MaxOnTime.
If OpenTime < MinOnTime, then set OpenTime = 0.
If any of the following conditions exist, OpenOut is not pulsed and OpenTime =
0.
OpenFB is true or PositionPercent 100
CycleTime = 0
OpenRate = 0

SPPercent is invalid
The CloseOut is pulsed whenever SP < Position feedback. When this occurs, the
instruction sets OpenTime = 0 and the duration for which CloseOut is to be
turned on is calculated as:
If CloseTimen-1 < CycleTime, then add Deadtime to CloseTime.
If CloseTime > MaxOnTime, then limit to MaxOnTime.
If CloseTime < MinOnTime, then set CloseTime to 0.
If any of the following conditions exist, CloseOut will not be pulsed and
CloseTime will be cleared to 0.0.
ClosedFB is true or PositionPercent 0
CycleTime = 0
CloseRate = 0
SPPercent is invalid
OpenOut and CloseOut will not be pulsed if SPPercent equals PositionPercent.

Both OpenTime and CloseTime will be cleared to false.
No
Major/Minor Faults

faults.

Execution
Function Block


Instruction first scan OpenTime and CloseTime are cleared to 0.0.
Structured Text

Normal Execution See Tag.EnableIn is true in the Function Block
table.
Examples
Example 1
In this example, the POSP instruction opens or closes a motor-operated valve

based on the CVEU output of the PIDE instruction. The actual valve position is
wired into the Position input and optional limit switches, which show if the valve
is fully opened or closed, are wired into the OpenedFB and ClosedFB inputs. The
OpenOut and CloseOut outputs are wired to the open and close contacts on the
motor-operated valve.

Function Block
Structured Text
FlowController.PV := WaterFlowRate;
PIDE(FlowController);
FlowValve.SP := FlowController.CVEU;
FlowValve.Position := FlowValvePosition;
FlowValve.OpenedFB := FlowValveOpened;
FlowValve.ClosedFB := FlowValveClosed;
POSP(FlowValve);
OpenFlowValveContact := FlowValve.OpenOut;
CloseFlowValveContact := FlowValve.CloseOut;
See also

Ramp/Soak (RMPS) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The RMPS instruction provides for a number of segments of alternating ramp and
soak periods.
Available Languages
Ladder Diagram
Function Block
Structured Text
RMPS(RMPS_tag,RampValue,SoakValue,SoakTime);

Operands
Function Block

RMPS tag RAMP_SOAK structure RMPS structure
RampValue REAL array Ramp Value array. Enter a ramp value for
each segment (0 to NumberOfSegs-1). Ramp
values are entered as time in minutes or as a
rate in units/minute. The TimeRate
parameter reflects which method is used to
specify the ramp. If a ramp value is invalid,
the instruction sets the appropriate bit in
Status and changes to Operator Manual or
Program Hold mode. The array must be at
least as large as NumberOfSegs.
SoakValue REAL array Soak Value array. Enter a soak value for each
segment (0 to NumberOfSegs-1). The array
must be at least as large as NumberOfSegs.
Valid = any float
SoakTime REAL array Soak Time array. Enter a soak time for each
segment (0 to NumberOfSegs-1). Soak times
are entered in minutes. If a soak value is
invalid, the instruction sets the appropriate
bit in Status and changes to Operator Manual
or Program Hold mode. The array must be at
Structured Text

RMPS tag RAMP_SOAK structure RMPS structure
RampValue REAL array Ramp Value array. Enter a ramp value for
each segment (0 to NumberOfSegs-1). Ramp
values are entered as time in minutes or as a
rate in units/minute. The TimeRate
parameter reflects which method is used to
specify the ramp. If a ramp value is invalid,
Status and changes to Operator Manual or
Program Hold mode. The array must be at
SoakValue REAL array Soak Value array. Enter a soak value for each
segment (0 to NumberOfSegs-1). The array
must be at least as large as NumberOfSegs.
Valid = any float

SoakTime REAL array Soak Time array. Enter a soak time for each
segment (0 to NumberOfSegs-1). Soak times
are entered in minutes. If a soak value is
invalid, the instruction sets the appropriate
bit in Status and changes to Operator Manual
or Program Hold mode. The array must be at
RMPS Structure
Specify a unique RMPS structure for each instruction.

updated.
Default is true.
PV REAL The scaled analog temperature signal input to the instruction.
Valid = any float
Default = 0.0
PVFault BOOL Bad health indicator of PV. If true, the input is invalid, the instruction is
placed in Program Hold or Operator Manual mode, and the instruction sets
Default is false.
NumberOfSegs DINT Number of segments. Specify the number of ramp/soak segments used by
the instruction. The arrays for RampValue, SoakValue, and SoakTime must
be at least as large as NumberOfSegs. If this value is invalid, the instruction
is placed into Operator Manual or Program Hold mode and the instruction
Valid = 1 to (minimum size of RampValue, SoakValue, or SoakTime arrays)
Default = 1
ManHoldAftInit BOOL Manual/Hold after initialization. If true, the ramp/soak is in Operator
Manual or Program Hold mode after initialization completes. Otherwise,
the ramp/soak remains is in its previous mode after initialization
completes.
Default is false.
CyclicSingle BOOL Cyclic/single execution. True for cyclic action or false for single action.
Cyclic action continuously repeats the ramp/soak profile. Single action
performs the ramp/ soak profile once and then stops.
Default is false.
TimeRate BOOL Time/rate ramp value configuration. True if the RampValue parameters are
entered as a time in minutes to reach the soak temperature. False if the
RampValue parameters are entered as a rate in units/minute.
Default is false.
GuarRamp BOOL Guaranteed ramp. If true and the instruction is in Auto, ramping is
temporarily suspended if the PV differs from the Output by more than
RampDeadband.
Default is cleared.

RampDeadband REAL Guaranteed ramp deadband. Specify the amount in engineering units that
PV is allowed to differ from the output when GuarRamp is on. If this value
is invalid, the instruction sets RampDeadband = 0.0 and the instruction
Default = 0.0
GuarSoak BOOL Guaranteed soak. If true and the instruction is in auto, the soak timer is
cleared if the PV differs from the Output by more than SoakDeadband.
Default is false.
SoakDeadband REAL Guaranteed soak deadband. Specify the amount in engineering units that
the PV is allowed to differ from the output when GuarSoak is on. If this
value is invalid, the instruction sets SoakDeadband = 0.0 and the
instruction sets the appropriate bit in Status.
Default = 0.0
CurrentSegProg DINT Current segment program. The user program writes a requested value for
the CurrentSeg into this input. This value is used if the ramp/soak is in
Program Manual mode. If this value is invalid, the instruction sets the
Valid = 0 to NumberOfSegs-1
Default = 0
OutProg REAL Output program. The user program writes a requested value for the Out
into this input. This value is used as the Out when the ramp/soak is in
Program Manual mode.
Valid = any float
Default = 0.0
SoakTimeProg REAL Soak time program. The user program writes a requested value for the
SoakTimeLeft into this input. This value is used if the ramp/soak is in
Program Manual mode. If this value is invalid, the instruction sets the
Default = 0.0
CurrentSegOper DINT Current segment operator. The operator interface writes a requested value
for the CurrentSeg into this input. This value is used if the ramp/soak is in
Operator Manual mode. If this value is invalid, the instruction sets the
Valid = 0 to NumberOfSegs-1
Default = 0
OutOper REAL Output operator. The operator interface writes a requested value for the
Out into this input. This value is used as the Out when the ramp/soak is in
Operator Manual mode.
Valid = any float
Default = 0.0
SoakTimeOper REAL Soak time operator. The operator interface writes a requested value for the
SoakTimeLeft into this input. This value is used if the ramp/soak is in
Operator Manual mode. If this value is invalid, the instruction sets the
Default = 0.0
ProgProgReq BOOL Program program request. Set to true by the user program to request
Program control. Ignored if ProgOperReq is true. Holding this true and
ProgOperReq false locks the instruction in Program control.
Default is false.

ProgOperReq BOOL Program operator request. Set to true by the user program to request
Operator control. Holding this true locks the instruction in Operator control.
Default is false.
ProgAutoReq BOOL Program auto mode request. Set to true by the user program to request the
ramp/soak to enter Auto mode. Ignored if the loop is in Operator control, if
ProgManualReq is true, or if ProgHoldReq is true.
Default is false.
ProgManualReq BOOL Program manual mode request. Set to true by the user program to request
the ramp/soak to enter Manual mode. Ignored if the ramp/soak is in
Operator control or if ProgHoldReq is true.
Default is false.
ProgHoldReq BOOL Program hold mode request. Set to true by the user program to request to
stop the ramp/ soak without changing the Out, CurrentSeg, or
SoakTimeLeft. Also useful when a PID loop getting its setpoint from the
ramp/soak leaves cascade. An operator can accomplish the same thing by
placing the ramp/soak into Operator Manual mode.
Default is false.
OperProgReq BOOL Operator program request. Set to true by the operator interface to request
Program control. Ignored if ProgOperReq is true. The instruction clears this
input to false.
Default is false.
OperOperReq BOOL Operator operator request. Set to true by the operator interface to request
Operator control. Ignored if ProgProgReq is true and ProgOperReq is false.
The instruction clears this input to false.
Default is false.
OperAutoReq BOOL Operator auto mode request. Set to true by the operator interface to
request the ramp/soak to enter Auto mode. Ignored if the loop is in
Program control or if OperManualReq is true. The instruction clears this
input to false.
Default is false.
OperManualReq BOOL Operator manual mode request. Set to true by the operator interface to
request the ramp/soak to enter Manual mode. Ignored if the loop is in
Program control. The instruction clears this input to false.
Default is false.
Initialize BOOL Initialize program and operator values. When true and in manual, the
instruction sets CurrentSegProg = 0, CurrentSegOper = 0, SoakTimeProg
= SoakTime[0], and SoakTimeOper = SoakTime[0]. Initialize is ignored
when in Auto or Hold mode. The instruction clears this parameter to false.
Default is false.
ProgValueReset BOOL Reset program control values. When true, the instruction clears
ProgProgReq, ProgOperReq, ProgAutoReq, ProgHoldReq, and
ProgManualReq to false.
Default is false.


EnableOut BOOL Indicates if instruction is enabled. Cleared to false if Out overflows.
Out REAL The output of the ramp/soak instruction.
CurrentSeg DINT Current segment number. Displays the current segment number in
the ramp/soak cycle. Segments start numbering at 0.
SoakTimeLeft REAL Soak time left. Displays the soak time remaining for the current
soak.
GuarRampOn BOOL Guaranteed ramp status. Set to true if the Guaranteed Ramp feature
is in use and the ramp is temporarily suspended because the PV
differs from the output by more than the RampDeadband.
GuarSoakOn BOOL Guaranteed soak status. Set to true if the Guaranteed Soak feature
is in use and the soak timer is cleared because the PV differs from
the output by more than the SoakDeadband.
ProgOper BOOL Program/Operator control indicator. True when in Program control.
False when in Operator control.
Auto BOOL Auto mode. True when the ramp/soak is in Program Auto or
Operator Auto mode.
Manual BOOL Manual mode. True when the ramp/soak is in Program Manual or
Hold BOOL Hold mode. True when the ramp/soak is in program Hold mode.
InstructFault (Status.0) BOOL The instruction detected one of the following execution errors. This
is not a minor or major controller error. Check the remaining status
PVFaulted (Status.1) BOOL PVHealth is bad.
NumberOfSegsInv (Status.2) BOOL The NumberOfSegs value is invalid value or is not compatible with
an array size.
RampDeadbandInv (Status.3) BOOL Invalid RampDeadband value.
SoakDeadbandInv (Status.4) BOOL Invalid SoakDeadband value.
CurrSegProgInv (Status.5) BOOL Invalid CurrSegProg value.
SoakTimeProgInv (Status.6) BOOL Invalid SoakTimeProg value.
CurrSegOperInv (Status.7) BOOL Invalid CurrSegOper value.
SoakTimeOperInv (Status.8) BOOL Invalid SoakTimeOper value.
RampValueInv (Status.9) BOOL Invalid RampValue value.
SoakTimeInv (Status.10) BOOL Invalid SoakTime value

Description
The RMPS instruction is typically used to provide a temperature profile in a batch

heating process. The output of this instruction is typically the input to the
setpoint of a PID loop.
instruction sets Out = the invalid value and sets the math overflow status flag. The
internal parameters are not updated. In each subsequent scan, the output is
computed using the internal parameters from the last scan when the output was
valid.
Monitoring the RMPS Instruction
There is an operator faceplate available for the RMPS instruction.
No
Major/Minor Faults

faults.
Execution
Function Block


Instruction first run Clear CurrentSeg to 0.
Mode is set to operator manual mode.
SoakTimeProg and SoakTimeOper are set to SoakTime[0]
if SoakTime[0] is valid.
Instruction first scan All the operator request inputs are cleared to false.
If ProgValueReset is true, all the program request inputs
are cleared to false.
The operator control mode is set to manual mode if the
current mode is hold.

Structured Text

Initial Mode Applied on Instruction First Scan
The following table shows the ending control based on the program request
inputs.
Control at Start of ProgOperReq ProgProgReq ProgValueReset FirstRun Control at End of First

First Scan Scan
Operator Control false true false na Program Control
na false na na Operator Control
Program Control true Na false false Operator Control
na Na true true Operator Control
false false false true Operator Control
false true false na Program Control
na Na true false Program Control
false false false false Program Control
The following table shows the ending control based on the Manual, Auto, and
Hold mode requests.
Control at Oper Oper Prog Prog Prog Man Prog First Control at End
Start of First Auto Man Auto Man Hold Hold Value Run of First Scan
Scan Req Req Req Req Req AftInit Reset
Operator na na na na na false na false Operator Current

Control mode
na na na na na na na Operator Manual
mode
na na na na na true na na
Program na na false false false false na false Program Current
Control mode
na na na na na false true false
na na true false false false false na Program Auto
mode
na na na true false false false na Program Manual
mode
na na na na true false false na Program Hold
mode
na na na na na true na na

Example
In this example, the RMPS instruction drives the setpoint of a PIDE instruction.
When the PIDE instruction is in Cascade/Ratio mode, the output of the RMPS
instruction is used as the setpoint. The PV to the PIDE instruction can be
optionally fed into the PV input of the RMPS instruction if you want to use
guaranteed ramping and/or guaranteed soaking.
In this example, the AutoclaveRSSoakValue, AutoclaveRSSoakTime, and

AutoclaveRSRampValue arrays are REAL arrays with 10 elements to allow up to a
10 segment RMPS profile.
Function Block

Switching Between Program Control and Operator Control
The RMPS instruction can be controlled by either a user program or through an

operator interface. Control can be changed at any time.
(1) You can lock the instruction in Operator control by leaving ProgOperReq to
true.
(2) You can lock the instruction in Program control by leaving ProgProgReq to
true while ProgOperReq is false.
When transitioning from Operator control to Program control while the

ProgAutoReq, ProgManualReq, and ProgHoldReq inputs are false, the mode is
If the instruction was in Operator Auto mode, then the transition is to Program
Auto mode.
If the instruction was in Operator Manual mode, then the transition is to Program
Manual mode.
When transitioning from Program control to Operator control while the

OperAutoReq and OperManualReq inputs are false, the mode is determined as
follows:
If the instruction was in Program Auto mode, then the transition is to Operator
Auto mode.
If the instruction was in Program Manual or Program Hold mode, then the
transition is to Operator Manual mode.

Program Control
The following diagram shows how the RMPS instruction operates when in
Program control.
(1) In single (non-cyclic) execution, you must toggle ProgAutoReq from false to
true if one execution of the ramp/soak profile is complete and you want another
execution of the ramp/soak profile.
(2) When the instruction is configured for single execution, and the Auto mode
Ramp-Soak profile completes, the instruction transitions to Hold mode.
(3) The instruction is placed in Hold mode if PVFaulted is true or any of the
following inputs are invalid: NumberOfSegs, CurrentSegProg, or SoakTimeProg.
The following table describes the possible Program modes.
Mode Description
Program Auto Mode While in Auto mode, the instruction sequentially executes the ramp/ soak profile.
Program Manual Mode While in Manual mode the user program directly controls the instruction’s Out. The CurrentSegProg, SoakTimeProg,
and OutProg inputs are transferred to the CurrentSeg, SoakTimeLeft, and Out outputs. When the instruction is placed
in auto mode, the ramp/soak function resumes with the values last input from the user program. CurrentSegProg and
SoakTimeProg are not transferred if they are invalid.
To facilitate a "bumpless" transition into Manual mode, the CurrentSegProg, SoakTimeProg, and OutProg inputs are
continuously updated to the current values of CurrentSeg, SoakTimeLeft, and Out when ProgValueReset is set and the
instruction is not in Program Manual mode.
Program Hold Mode While in Hold mode, the instruction’s outputs are maintained at their current values. If in this mode when
ProgOperReq is set to change to Operator control, the instruction changes to Operator Manual mode.

Operator Control
The following diagram shows how the RMPS instruction operates when in
Operator control.
(1) When the instruction is configured for Single Execution, and the Auto mode
ramp/soak profile completes, the instruction transitions to manual mode.
(2) The instruction is placed in Manual mode if PVFaulted is true or any of the
following inputs are invalid: NumberOfSegs, CurrentSegOper, or SoakTimeOper.
The following table describes the possible Operator modes.
Mode Description
Operator Auto Mode While in Auto mode, the instruction sequentially executes the ramp/ soak profile.
Operator Manual Mode While in Manual mode the operator directly controls the instruction’s Out. The CurrentSegOper, SoakTimeOper, and
OutOper inputs are transferred to the CurrentSeg, SoakTimeLeft, and Out outputs. When the instruction is placed in
Auto mode, the ramp/soak function resumes with the values last input from the operator. CurrentSegOper and
SoakTimeOper are not transferred if they are invalid.
To facilitate a "bumpless" transition into Manual mode, the CurrentSegOper, SoakTimeOper, and OutOper inputs are
continuously updated to the current values of CurrentSeg, SoakTimeLeft, and Out whenever the instruction is not in

Executing the Ramp/Soak Profile
The following diagram illustrates how the RMPS instruction executes the
ramp/soak profile.
(1) The Ramp is complete when Out = SoakValue. If, during ramp execution, Out
> SoakValue, Out is limited to SoakValue.
(2) Soaking is complete when Out is held for the amount of time specified in the
current segment’s SoakTime. If the segment executed was not the last segment,
CurrentSeg increments by one.
(3) Soaking has completed for the last programmed segment and the instruction is
configured for cyclic execution. The instruction sets CurrentSeg = 0.
(4) Soaking has completed for the last programmed segment and the instruction is
configured for single execution.
(5) When returning to Auto mode, the instruction determines if ramping or

soaking resumes. What to do next depends on the values of Out, SoakTimeLeft,
and the SoakValue of the current segment. If Out = SoakValue for the current
segment, and SoakTimeLeft = 0, then the current segment has completed and the
next segment starts.

Ramping
The ramp cycle ramps Out from the previous segment’s SoakValue to the current
segment’s SoakValue. The time in which the ramp is traversed is defined by the
RampValue parameters.
Ramping is positive if Out < target SoakValue of the current segment. If the ramp
equation calculates a new Out which exceeds the target SoakValue, the Out is set
to the target SoakValue.
Ramping is negative if Out > the target SoakValue of the current segment. If the
ramp equation calculates a new Out which is less than the target SoakValue, the
Out is set to the target SoakValue.
Each segment has a ramp value. You have the option of programming the ramp in
units of time or rate. All segments must be programmed in the same units. The
following table describes the ramping options:
Parameter Description
Time-based ramping TimeRate is set to true for time-based ramping (in minutes)
The rate of change for the current segment is calculated and either added or subtracted to Out
until Out reaches the current segment’s soak value. In the following equation, DeltaT is the
elapsed time in minutes since the instruction last executed.
Where RampStart is the value of Out at the start of the Current Segment.
Rate-based ramping TimeRate is cleared to false for rate-based ramping (in units/minute)
The programmed rate of change is either added or subtracted to Out until Out reaches the current
segment’s soak value. In the following equation, DeltaT is the elapsed time in minutes since the
instruction last executed.
Guaranteed Ramping
Set the input GuarRamp to true to enable guaranteed ramping. When enabled, the
instruction monitors the difference between Out and PV. If the difference is
outside of the programmed RampDeadband, the output is left unchanged until
the difference between PV and Out are within the deadband. The output
GuarRampOn is set to true whenever Out is held due to guaranteed ramping
being in effect.

Soaking
Soaking is the amount of time the block output is to remain unchanged until the
next ramp-soak segment is started. The soak cycle holds the output at the
SoakValue for a programmed amount of time before proceeding to the next
segment. The amount of time the output is to soak is programmed in the
SoakTime parameters.
Each segment has a SoakValue and SoakTime. Soaking begins when Out is
ramped to the current segment’s SoakValue. SoakTimeLeft represents the time in
minutes remaining for the output to soak. During ramping, SoakTimeLeft is set to
the current segment’s SoakTime. Once ramping is complete, SoakTimeLeft is
decreased to reflect the time in minutes remaining for the current segment.
SoakTimeLeft = 0 when SoakTime expires.
Guaranteed Soaking
Set the input GuarSoak to true to enable guaranteed soaking. When enabled, the
instruction monitors the difference between Out and PV. If the difference is
outside of the SoakDeadband, timing of the soak cycle is suspended and the
internal soak timer is cleared. When the difference between Out and PV returns to
within the deadband, timing resumes. The output GuarSoakOn is set to true
when timing is held due to guaranteed soaking being in effect.
See also
Scale (SCL) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The SCL instruction converts an unscaled input value to a floating point value in
engineering units.
Available Languages
Ladder Diagram

Function Block
Structured Text
SCL(SCL_tag)
Operands
Function Block

SCL tag SCALE Structure SCL structure
Structured Text

SCL tag SCALE Structure SCL structure
SCALE Structure

Default is true.
In REAL The analog signal input.
Valid = any float
Default = 0.0
InRawMax REAL The maximum value attainable by the input to
the instruction. If InRawMax InRawMin, the
stops updating the output.
Valid = InRawMax > InRawMin
Default = 0.0
InRawMin REAL The minimum value attainable by the input to the
instruction. If InRawMin InRawMax, the
stops updating the output.
Valid = InRawMin < InRawMax
Default = 0.0

InEUMax REAL The scaled value of the input corresponding to

InRawMax.
Default = 0.0
InEUMin REAL The scaled value of the input corresponding to
InRawMin.
Default = 0.0
Limiting BOOL Limiting selector. If true, Out is limited to
between InEUMin and InEUMax.
Default is false.

EnableOut BOOL Indicates if instruction is enabled. Cleared to false
if Out overflows.
Out REAL The output that represents scaled value of the
analog input.
Default = InEUMin
MaxAlarm BOOL The above maximum input alarm indicator. This
value is set to true when In> InRawMax.
MinAlarm BOOL The below minimum input alarm indicator. This
value is set to true when In < InRawMin.
controller error. Check the remaining status bits
to determine what occurred.
InRawRangeInv (Status.1) BOOL InRawMin InRawMax.
Description
Use the SCL instruction with analog input modules that do not support scaling to
a full resolution floating point value.
For example, the 1771-IFE module is a 12-bit analog input module that supports
scaling only in integer values. If you use a 1771-IFE module to read a flow of 0-100
gallons per minute (gpm), you typically do not scale the module from 0-100
because that limits the resolution of the module. Instead, use the SCL instruction
and configure the module to return an unscaled (0-4095) value, which the SCL
instruction converts to 0-100 gpm (floating point) without a loss of resolution.
This scaled value could then be used as an input to other instructions.
The SCL instruction uses this algorithm to convert unscaled input into a scaled
value:

Alarming
Once the instruction calculates Out, the MaxAlarm and MinAlarm are
Limiting
Limiting is performed on Out when Limiting is set. The instruction sets Out =
InEUMax when In > InRawMax. The instruction sets Out = InEUMin when In
< InRawMin.
No
Major/Minor Faults

faults.
Execution
Function Block

Tag.EnableIn is true EnableIn and EnableOut bits are set to true

Structured Text

Example
The SCL instruction is typically used with analog input modules that do not
support on-board scaling to floating point engineering units. In this example, the
SCL instruction scales an analog input from a 1771-IFE module. The instruction
places the result in Out, which is used by an ALM instruction.
Function Block
Structured Text
SCL_01.In := Input0From1771IFE;
SCL(SCL_01);
ALM_01.In := SCL_01.Out;
ALM(ALM_01);
See also

Split Range Time This information applies to the CompactLogix 5370, ControlLogix 5570,
Proportional (SRTP) CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The SRTP instruction takes the 0-100% output of a PID loop and drives heating
and cooling digital output contacts with a periodic pulse. This instruction controls
applications such as barrel temperature control on extrusion machines.
Available Languages
Ladder Diagram
Function Block
Structured Text
SRTP(SRTP_tag)
Operands
Function Block

SRTP tag SPLIT_RANGE Structure SRTP structure
Structured Text

SRTP tag SPLIT_RANGE Structure SRTP structure

SPLIT_RANGE Structure

Default is true.
In REAL The analog signal input asking for heating or
cooling. This input typically comes from the CVEU
of a PID loop.
Valid = any float
CycleTime REAL The period of the output pulses in seconds. A
value of zero turns off both heat and cool outputs.
If this value is invalid, the instruction assumes a
value of zero and sets the appropriate bit in
Status.
Default = 0.0
MaxHeatIn REAL Maximum heat input. This value specifies the
percentage of the In which will cause maximum
heating. This is typically 100% for a heat/cool
loop.
Valid = any float
Default = 100.0
MinHeatIn REAL Minimum heat input. Specify the percent of In
that represents the start of the heating range and
causes minimum heating. This is typically 50% for
a heat/cool loop.
Valid = any float
Default = 50.0
MaxCoolIn REAL Maximum cool input. Specify the percent of In
that causes maximum cooling. This is typically 0%
for a heat/cool loop.
Valid = any float
Default = 0.0
MinCoolIn REAL Minimum cool input. Specify the percent of In
that causes minimum cooling. This is typically
50% for a heat/cool loop.
Valid = any float
Default = 50.0
MaxHeatTime REAL Maximum heat time in seconds. Specify the
maximum time in seconds that a heating pulse
can be on. If the instruction calculates HeatTime
to be greater than this value, HeatTime is limited
to MaxHeatTime. If MaxHeatTime is invalid, the
Default = CycleTime

MinHeatTime REAL Minimum heat time in seconds. Specify the

minimum time in seconds that a heating pulse
can be on. If the instruction calculates HeatTime
to be less than this value, HeatTime is set to zero.
If MinHeatTime is invalid, the instruction assumes
a value of zero and sets the appropriate bit in
Status.
Valid = 0.0 to MaxHeatTime
Default = 0.0
MaxCoolTime REAL Maximum cool time in seconds. Specify the
maximum time in seconds that a cooling pulse
can be on. If the instruction calculates CoolTime
to be larger than this value, CoolTime is limited to
MaxCoolTime. If MaxCoolTime is invalid, the
Default = CycleTime
MinCoolTime REAL Minimum cool time in seconds. Specify the
minimum time in seconds that a cooling pulse
can be on. If the instruction calculates CoolTime
to be less than this value, CoolTime is set to zero.
If MinCoolTime is invalid, the instructions
assumes a value of zero and sets the appropriate
bit in Status.
Valid = 0.0 to MaxCoolTime
Default = 0.0

if HeatTimePercent or CoolTimePercent
overflows.
HeatOut BOOL Heating output pulse. The instruction pulses this
output for the heating contact.
CoolOut BOOL Cooling output pulse. The instruction pulses this
output for the cooling contact.
HeatTimePercent REAL Heating output pulse time in percent. This value
is the calculated percent of the current cycle that
the HeatingOutput will be on. This allows you to
use the instruction with an analog output for
heating if required.
CoolTimePercent REAL Cooling output pulse time in percent. This value is
the calculated percent of the current cycle that
the CoolingOutput will be on. This allows you to
use the instruction with an analog output for
cooling if required.
CycleTimeInv (Status.1) BOOL Invalid CycleTime value. The instruction uses zero.

MaxHeatTimeInv (Status.2) BOOL Invalid MaxHeatTime value. The instruction uses

the CycleTime value.
MinHeatTimeInv (Status.3) BOOL Invalid MinHeatTime value. The instruction uses
zero.
MaxCoolTimeInv (Status.4) BOOL Invalid MaxCoolTime value. The instruction uses
the CycleTime value.
MinCoolTimeInv (Status.5) BOOL Invalid MinCoolTime value. The instruction uses
zero.
HeatSpanInv (Status.6) BOOL MaxHeatIn = MinHeatIn.
CoolSpanInv (Status.7) BOOL MaxCoolIn = MinCoolIn.
Description
The length of the SRTP pulse is proportional to the PID output. The instruction
parameters accommodate heating and cooling applications.
Using the Internal Cycle Timer
The instruction maintains a free running cycle timer that cycles from zero to the
programmed CycleTime. The internal timer is updated by DeltaT. DeltaT is the
elapsed time since the instruction last executed. This timer determines if the
outputs need to be turned on.
You can change CycleTime at any time. If CycleTime = 0, the internal timer is
cleared and HeatOut and CoolOut are cleared to false.
Calculating Heat and Cool Times
Heat and cool times are calculated every time the instruction is executed.
HeatTime is the amount of time within CycleTime that the heat output is to be
turned on.
If HeatTime < MinHeatTime, set HeatTime = 0.
If HeatTime> MaxHeatTime, limit HeatTime = MaxHeatTime.
HeatTimePercent is the percentage of CycleTime that the HeatOut pulse is true.

CoolTime is the amount of time within CycleTime that the cool output is to be
turned on.
If CoolTime < MinCoolTime, set CoolTime = 0.
If CoolTime > MaxCoolTime, limit CoolTime = MaxCoolTime.
CoolTimePercent is the percentage of CycleTime that the CoolOut pulse is true.
The instruction controls heat and cool outputs using these rules:
• Set HeatOut to true if HeatTime the internal cycle time accumulator.

Clear HeatOut to false when the internal cycle timer > HeatTime.
• Set CoolOut to true if CoolTime the internal cycle time accumulator.
Clear CoolOut to false if the internal cycle timer > CoolTime.
• Clear HeatOut and CoolOut to false if CycleTime = 0.
No
Major/Minor Faults

faults.

Execution
Function Block

Instruction first scan HeatOut and CoolOut are cleared to false.
HeatTimePercent and CoolTimePercent are cleared to
0.0.
Structured Text

Example
In this example, a PIDE instruction executes in a slow, lower priority task because
it is a slow, temperature loop. The output of the PIDE instruction is a controller-
scoped tag because it becomes the input to an SRTP instruction. The SRTP
instruction executes in a faster, higher priority task so that the pulse outputs are
more accurate

Function Block
Place the PIDE instruction in a slow, lower priority task
Place the SRTP instruction in a faster, higher priority task.

Structured Text
Place the PIDE instruction in a slow, lower priority task.
BarrelTempLoop.PV := BarrelTemp;
PIDE(BarrelTempLoop);
LoopOutput := BarrelTempLoop.CVEU;
Place the SRTP instruction in a faster, higher priority task.
SRTP_02.In := LoopOutput;
SRTP(SRTP_02);
ResistiveHeater := SRTP_02.HeatOut;
CoolingSolenoid := SRTP_02.CoolOut;
See also
Totalizer (TOT) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The TOT instruction provides a time-scaled accumulation of an analog input

value.
Available Languages
Ladder Diagram

Function Block
Structured Text
TOT(TOT_tag)
Operands
Function Block

TOT tag TOTALIZER Structure TOT structure
Structured Text

TOT tag TOTALIZER Structure TOT structure

TOTALIZER Structure

Default is true.
Valid = any float
Default = 0.0
InFault BOOL Bad health indicator of In. If true, it indicates the
input signal has an error, the instruction sets the
appropriate bit in Status, the control algorithm
is not executed, and Total is not updated.
Default is false.
TimeBase DINT The timebase input. The time base of the
totalization based on the In engineering units.
0 = Seconds
1 = Minutes
2 = Hours
3 = Days
For example, use TimeBase = minutes if In has
units of gal/min. If this value is invalid, the
does not update the Total.
For more information about timing modes, see
Valid = 0 to 3
Default = 0
Gain REAL The multiplier of the incremental totalized
value. The user can use the Gain to convert the
units of totalization. For example, use the Gain
to convert gal/min to a total in barrels.
Valid = any float
Default = 1.0
ResetValue REAL The reset value input. The reset value of Total
when OperResetReq or ProgResetReq
transitions from false to true.
Valid = any float
Default = 0.0
Target REAL The target value for the totalized In.
Valid = any float
Default = 0.0
TargetDev1 REAL The large deviation pre-target value of the Total
compared to the Target. This value is expressed
as a deviation from the Target.
Valid = any float
Default = 0.0
TargetDev2 REAL The small deviation pre-target value of the Total
compared to the Target. This value is expressed
as a deviation from the Target.
Valid = any float
Default = 0.0

LowInCutoff REAL The instruction low input cutoff input. When the
In is at or below the LowInCutoff value,
totalization ceases.
Valid = any float
Default = 0.0
ProgProgReq BOOL Program program request. Set to true to request
Program control. Ignored if ProgOperReq is true.
Holding this true and ProgOperReq false locks
the instruction in Program control.
Default is false.
ProgOperReq BOOL Program operator request. Set to true to request
Operator control. Holding this true locks the
instruction in Operator control.
Default is false.
ProgStartReq BOOL The program start request input. Set to true to
request totalization to start.
Default is false.
ProgStopReq BOOL The program stop request input. Set to true to
request totalization to stop.
Default is false.
ProgResetReq BOOL The program reset request input. Set to true to
request the Total to reset to the ResetValue.
Default is false.
OperProgReq BOOL Operator program request. Set to true by the
operator interface to request Program control.
Default is false.
OperOperReq BOOL Operator operator request. Set to true by the
operator interface to request Operator control.
Default is false.
OperStartReq BOOL The operator start request input. Set to true by
the operator interface to request totalization to
start. The instruction clears this input to false.
Default is false.
OperStopReq BOOL The operator stop request input. Set to true by
stop. The instruction clears this input to false.
Default is false.
OperResetReq BOOL The operator reset request input. Set to true by
reset. The instruction clears this input to false.
Default is false.
ProgValueReset BOOL Reset program control values. When true, clear
all the program request inputs to false at each
execution of the instruction.
Default is false.


0 = Period mode
1 = Oversample mode
Valid = 0 to 2
Default = 0
Default = 0
mode
Default = 1
RTSTimeStamp DINT Module time stamp value for real time sampling
mode.
Default = 0

false if Total overflows.
Total REAL The totalized value if In.
OldTotal REAL The value of the total before a reset occurred.
You can monitor this value to read the exact
total just before the last reset.
ProgOper BOOL Program/operator control indicator. True when
in Program control. False when in Operator
control.
RunStop BOOL The indicator of the operational state of the
totalizer. True when the TOT instruction is
running. False when the TOT instruction is
stopped.
ProgResetDone BOOL The indicator that the TOT instruction has
completed a program reset request. Set to true
when the instruction resets as a result of
ProgResetReq. You can monitor this to
determine that a reset successfully completed.
Cleared to false when ProgResetReq is false.
TargetFlag BOOL The flag for Total. Set to true when Total
Target.
TargetDev1Flag BOOL The flag for TargetDev1. Set to true when Total
Target - TargetDev1.
TargetDev2Flag BOOL The flag for TargetDev2. Set to true when Total
Target - TargetDev2.
LowInCutoffFlag BOOL The instruction low input cutoff flag output. Set
to true when
In £ LowInCutoff.


InFaulted (Status.1) BOOL In value faulted.
TimeBaseInv (Status.2) BOOL Invalid TimeBase value.
(Status.27)
RTSMissed (Status.28) BOOL Only used in real time sampling mode. Set to
true when
ABS(DeltaT – RTSTime) > 1 millisecond.
(Status.30)
DeltaTInv (Status.31) BOOL Invalid DeltaT value. This can occur if
OversampleDT is invalid in oversample timing
mode.
Description
This instruction typically totals the amount of a material added over time, based
on a flow signal.
The TOT instruction supports:
• Time base selectable as seconds, minutes, hours, or days.

• You can specify a target value and up to two pre-target values. Pre-target
values are typically used to switch to a slower feed rate. Digital flags
announce the reaching of the target or pre-target values.
• A low flow input cutoff that you can use to eliminate negative totalization
due to slight flow meter calibration inaccuracies when the flow is shut off.
• Operator or program capability to start/stop/reset.
• A user defined reset value.
• Trapezoidal-rule numerical integration to improve accuracy.
• The internal totalization is done with double precision math to improve
accuracy.
Monitoring the TOT Instruction
There is an operator faceplate available for the TOT instruction.
No

Major/Minor Faults

faults.
Execution
Function Block

Instruction first run Total is set to ResetValue.
OldTotal is cleared to 0.0.
ProgOper is cleared to false.
Instruction first scan All operator request inputs are cleared to false. If
ProgValueReset is true then all program request inputs
are cleared to false.
Structured Text

Check for Low Input Cutoff
If (In <= LowInCutoff), the instruction sets LowInCutoffFlag to true and makes
In(n-1) = 0.0.
Otherwise, the instruction clears LowInCutoffFlag to false.
When the LowInCutoffFlag is true, the operation mode is determined but

totalization ceases.
When LowInCutoffFlag is false, totalization continues that scan.

Operating Modes
The following diagram shows how the TOT instruction changes between
(1) The instruction remains in operator control mode when ProgOperReq is true.
The following diagram shows how the TOT instruction changes between Run
and Stop modes.
(1) The stop requests take precedence over start requests
(2) The first scan in run after a stop, the totalization is not evaluated, but in n-1 is
updated.
During the next scan, totalization resumes.

All operator request inputs are cleared to false at the end of each scan. If
ProgValueReset is true, all program request inputs are cleared to false at the end of
each scan.
Resetting the TOT Instruction
When ProgResetReq transitions to true while ProgOper is true, the following

happens:
• OldTotal = Total
• Total = ResetValue
• ProgResetDone is set to true
If ProgResetReq is false and ProgResetDone is true then ProgResetDone is cleared

to false
When OperResetReq transitions to true while ProgOper is false, the following

happens:
• OldTotal = Total
• Total = ResetValue
Calculating the Totalization
When RunStop is true and LowInCutoffFlag is false, the following equation

performs the totalization calculation.
where TimeBase is:
Value Condition
1 TimeBase = 0 (seconds)
60 TimeBase = 1 (minutes)
3600 TimeBase = 2 (hours)
86400 TimeBase = 3 (days)

Determining if Target Values Have Been Reached
Once the totalization has been calculated, these rules determine whether the target
or pre-target values have been reached:
• TargetFlag is true when Total Target

• TargetDev1Flag is true when Total (Target - TargetDev1)
• TargetDev2Flag is true when Total (Target - TargetDev2)
Example
In this example, the TOT instruction meters a target quantity of water into a tank
and shuts off the flow once the proper amount of water has been added. When the
AddWater pushbutton is pressed, the TOT instruction resets and starts totalizing
the amount of water flowing into the tank. Once the Target value is reached, the
TOT instruction sets the TargetFlag output, which causes the solenoid valve to
close. For this example, the TOT instruction was "locked" into Program Run by
setting the ProgProgReq and ProgStartReq inputs. This is done for this example
because the operator never needs to directly control the TOT instruction.
Function Block

Structured Text
TotalWaterFlow.In := WaterFlowRate;
TotalWaterFlow.ProgProgReq := 1;
TotalWaterFlow.ProgStartReq := 1;
TotalWaterFlow.ProgResetReq := AddWater;
TOT(TotalWaterFlow);
RESD_01.Set := AddWater;
RESD_01.Reset := TotalWaterFlow.TargetFlag;
RESD(RESD_01);
WaterSolenoidValve := RESD_01.Out;
See also
Coordinated This information applies to the CompactLogix 5370, ControlLogix 5570,

Control (CC) CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The CC instruction controls a single process variable by manipulating as many as

three different control variables. As an option, any of the three outputs can be
used as an input to create feed forward action in the controller. The CC calculates
the control variables (CV1, CV2, and CV3) in the auto mode based on the PV -
SP deviation, internal models, and tuning.
Available Languages
Ladder Diagram

Function Block
Structured Text
CC(CC_tag);
Operands
Structured Text
Operands Type Format Description

CC tag COORDINATED_ CONTROL structure CC Structure
Important: Whenever an APC block detects a change in Delta Time (DeltaT), a ModelInit will
be performed. For this reason the blocks should only be run in one of the
TimingModes in which DeltaT will be constant.
• TimingMode = 0 (Periodic) while executing these function blocks in a

Periodic Task
• TimingMode = 1 (Oversample)

In either case, if the Periodic Task time is dynamically changed, or the

OversampleDT is dynamically changed, the block will perform a ModelInit.
The following TimingMode setting are not recommended due to jitter in DeltaT:
• TimingMode = 0 (Periodic) while executing these function blocks in a

Continuous or Event Task
• TimingMode = 2 (RealTimeSample)
Function Block
Operands Type Format Description

CC tag COORDINATED CONTROL structure CC Structure
Structure
Input Parameters Data Type Description Valid and Default Values

EnableIn BOOL Enable Input. If False, the function Default=TRUE
block will not execute and outputs are
not updated.
PV REAL Scaled process variable input. This Valid = any float
value is typically read from an analog Default = 0.0
input module.
PVFault BOOL PV bad health indicator. If PV is read FALSE = Good Health
from an analog input, then PVFault Default = FALSE
will normally be controlled by the
analog input fault status.
If PVFault is TRUE, it indicates an error
on the input module, set bit in Status.
PVUEMax REAL Maximum scaled value for PV. The Valid = PVEUMin < PVEUMax ≤ maximum
value of PV and SP that corresponds to positive float
100% span of the Process Variable. Default = 100.0
If PVEUMax ≤ PVEUMin, set bit in
Status.
PVUEMin REAL Minimum scaled value for PV. The Valid = maximum negative float ≤
value of PV and SP that corresponds to PVEUMin < PVEUMax
0% span of the Process Variable. Default = 0.0
If PVEUMax ≤ PVEUMin, set bit in
Status.
SPProg REAL SP Program value, scaled in PV units. Valid = SPLLimit to SPHLimit
SP is set to this value when the Default = 0.0
instruction is in Program control.
SPOper REAL SP Operator value, scaled in PV units. Valid = SPLLimit to SPHLimit
SP set to this value when in Operator Default = 0.0
control.
If value of SPProg or SPOper <
SPLLimit or > SPHLimit, set bit in
Status and limit value used for SP.
SPHLimit REAL SP high limit value, scaled in PV units. Valid = SPLLimit to PVEUMax
If SPHLimit < SPLLimit or SPHLimit > Default = 100.0
PVEUMax, set bit in Status.

SPLLimit REAL SP low limit value, scaled in PV units. Valid = PVEUMin to SPHLimit
If SPLLimit < PVEUMin, or SPHLimit < Default = 0.0
SPLLimit, set bit in Status and limit SP
by using the value of SPLLimit.
CV1Fault BOOL Control variable 1 bad health Default = FALSE
indicator. If CV1EU controls an analog FALSE = Good Health
output, then CV1Fault will normally
come from the analog output's fault
status.
If CV1Fault is TRUE, it indicates an
error on the output module, set bit in
Status.
status.
Status.
status.
Status.
CV1InitReq BOOL CV1 initialization request. While TRUE, Default = FALSE
set CV1EU to the value of CVInitValue.
This signal will normally be controlled
by the In Hold status on the analog
output module controlled by CV1EU or
from the InitPrimary output of a
secondary loop.
output module controlled by CV2EU or
from the InitPrimary output of a
secondary loop.
output module controlled by CV32EU
or from the InitPrimary output of a
secondary loop.

CV1InitValue REAL CV1EU initialization value, scaled in Valid = any float

CV1EU units. When CV1Initializing is Default = 0.0
TRUE set CV1EU equal to CV1InitValue
and CV1 to the corresponding
percentage value. CV1InitValue will
normally come from the feedback of
the analog output controlled by
CV1EU or from the setpoint of a
secondary loop.
The instruction initialization is
disabled when CVFaulted or
CVEUSpanInv are TRUE.
secondary loop.
secondary loop.
CV1Prog REAL CV1 Program-Manual value. CV1 is set Valid = 0.0 through 100.0
to this value when in Program control Default = 0.0
and Manual mode.
CV2Prog REAL CV2 Program-Manual value. CV2 is set Valid = 0.0…100.0
and Manual mode.
CV3Prog REAL CV3 Program-Manual value. CV3 is set Valid = 0.0…100.0
and Manual mode.
CV1Oper REAL CV1 Operator-Manual value. CV1 is set Valid = 0.0…100.0
to this value when in Operator control Default = 0.0
and Manual mode. If not Operator-
Manual mode, set CV1Oper to the
value of CV1 at the end of each
function block execution.
If value of CV1Oper < 0 or > 100, or <
CV1LLimit or > CV1HLimit when
CVManLimiting is TRUE, set unique
Status bit and limit value used for CV.


CV1OverrideValue REAL CV1 Override value. CV1 set to this Valid = 0.0…100.0
value when in Override mode. Default = 0.0
This value should correspond to a safe
state output of the loop.
If value of CV1OverrideValue < 0 or
>100, set unique Status bit and limit
value used for CV.
value used for CV.
value used for CV.

CV1TrackValue REAL CV1 track value. When CVTrackReq is Valid = 0.0…100.0

enabled and the CC function block is in Default = 0.0
Manual mode, the CV1TrackValue will
be ignored, and the CC internal model
will update its historical data with the
CV1Oper or CV1Prog value. When
CVTrackReq is enabled and the CC
function block is in Auto, the internal
model will update its historical data
based on the value of CV1TrackValue.
The CV1 in this case will be allowed to
move as if the CC function block was
still controlling the process. This is
useful in multiloop selection schemes
where you want the CC function block
to follow the output of a different
controlling algorithm, where you
would connect the output of the
controlling algorithm into the
CV1TrackValue.
CV2TrackValue.


CV3TrackValue.
CVManLimiting BOOL Limit CV(n), where (n) can be 1, 2, or Default = FALSE
3, in Manual mode request. If Manual
mode and CVManLimiting is TRUE, CV
will be limited by the CV(n)HLimit and
CV(n)LLimit values.
CV1EUMax REAL Maximum value for CV1EU. The value Valid = any float
of CV1EU that corresponds to 100% Default = 100.0
CV1. If CV1EUMax = CV1EUMin, set bit
in Status.
in Status.
in Status.
CV1EUMin REAL Minimum value of CV1EU. The value of Valid = any float
CV1EU that corresponds to 0% CV1. If Default = 0.0
CV1EUMax = CV1EUMin, set bit in
Status.
Status.
Status.

CV1HLimit REAL CV1 high limit value. This is used to Valid = CV1LLimit < CV1HLimit ≤ 100.0
set the CV1HAlarm output. It is also Default = 100.0
used for limiting CV1 when in Auto
mode or in Manual if CVManLimiting
is TRUE.
If CV1HLimit > 100, if CV1HLimit <
CV1LLimit, set bit in Status.
If CV1HLimit < CV1LLimit, limit CV1
by using the value of CV1LLimit.
is TRUE.
is TRUE.
CV1LLimit REAL CV1 low limit value. This is used to set Valid = 0.0 ≤ CV1LLimit < CV1HLimit
the CV1LAlarm output. It is also used Default = 0.0
for limiting CV1 when in Auto mode or
in Manual mode if CVManLimiting is
TRUE.
If CV1LLimit < 0 set bit in Status. If
CV1HLimit < CV1LLimit, limit CV by
using the value of CV1LLimit.
TRUE.
using the value of CV2LLimit.
TRUE.
using the value of CVLLimit.

CV1ROCPosLimit REAL CV1 rate of change limit, in percent Valid = 0.0 to maximum positive float
per second. Rate of change limiting is Default = 0.0
only used when in Auto mode or in
Manual mode if CVManLimiting is
TRUE. A value of zero disables CV1 ROC
limiting. If value of CV1ROCLimit < 0,
set bit in Status and disable CV1 ROC
limiting.
limiting.
limiting.
CV1ROCNegLimit REAL CV1 rate of change limit, in percent Valid = 0.0 to maximum positive float
limiting.
limiting.
limiting.

CV1HandFB REAL CV1 HandFeedback value. CV1 set to Valid = 0.0…100.0

this value when in Hand mode and Default = 0.0
CV1HandFBFault is FALSE (good
health). This value would typically
come from the output of a field
mounted hand/auto station and
would be used to generate a bumpless
transfer out of Hand mode. If value of
CV1HandFB < 0 or > 100, set unique
Status bit and limit value used for CV1.
CV1HandFBFault BOOL CV1HandFB value bad health FALSE = Good Health
indicator. If the CV1HandFB value is Default = FALSE
read from an analog input, then
CV1HandFBFault will normally be
controlled by the status of the analog
input channel. If CV1HandFBFault is
TRUE, it indicates an error on the input
module, set bit in Status.
CV2HandFBFault BOOL CV2HandFB value bad health FALSE = Good Health
CV3HANDFBFault BOOL CV3HandFB value bad health FALSE = Good Health
CV1Target REAL Target value for CV1. Valid = 0.0…100.0
Default = 0.0


Default = 0.0
Default = 0.0
CV1WindupHIn BOOL CV1Windup high request. When TRUE, Default = FALSE
CV1 will not be allowed to increase in
value. This signal will typically be the
CV1WindupHOut output from a
secondary loop.
secondary loop.
secondary loop.
CV1WindupLIn BOOL CV1 Windup low request. When TRUE, Default = FALSE
CV1 will not be allowed to decrease in
CV1WindupLOut output from a
secondary loop.
secondary loop.
secondary loop.
GainEUSpan BOOL CVxModelGain units can be Default = 0
represented as EU or % of span. Set to
interpret ModelGain as EU, reset to
interpret ModelGain as % of Span.
CV1ProcessGainSign BOOL Used only for Autotuning. Sign of the Default = FALSE
process gain (Delta PV/Delta CV1).
Set to indicate a negative process gain
(increase in output causes a decrease
in PV).
Reset to indicate a positive process
gain (increase in output causes an
increase in PV).
in PV).
increase in PV).

in PV).
increase in PV).
ProcessType DINT Process type selection (1=Integrating, Default = 0
0=non-integrating)
CV1ModelGain REAL The internal model gain parameter for Valid = maximum negative float −>
CV1. Enter a positive or negative gain maximum positive float
depending on process direction. Default = 0.0
CV1ModelTC REAL The internal model time constant for Valid = 0.0 to maximum positive float
CV1 in seconds. Default = 0.0
CV1ModelDT REAL The internal model deadtime for Valid = 0.0 to maximum positive float
CV2ModelDT REAL The internal model deadtime for CV2 Valid = 0.0 to maximum positive float
in seconds. Default = 0.0
CV3ModelDT REAL The internal model deadtime for CV3 Valid = 0.0 to maximum positive float
in seconds. Default = 0.0
CV1RespTC REAL The tuning parameter that determines Valid = 0.0 to maximum positive float
the speed of the control variable Default = 0.0
action for CV1 in seconds.
Act1stCV DINT The first CV to act to compensate for Valid = 1-3
PV-SP deviation. Default = 1
1=CV1, 2=CV2, 3=CV3
Act2ndCV DINT The second CV to act to compensate Valid = 1-3
for PV-SP deviation. Default = 2
1=CV1, 2=CV2, 3=CV3
Act3rdCV DINT The third CV to act to compensate for Valid = 1-3
PV-SP deviation. Default = 3
1=CV1, 2=CV2, 3=CV3

Target1stCV DINT The CV with top priority to be driven Valid = 1-3

to its target value. Default = 1
1=CV1, 2=CV2, 3=CV3
Target2ndCV DINT The CV with second highest priority to Valid = 1-3
be driven to its target value. Default = 2
1=CV1, 2=CV2, 3=CV3
Target3rdCV DINT The CV with third highest priority to Valid = 1-3
be driven to its target value. Default = 3
1=CV1, 2=CV2, 3=CV3
PVTracking BOOL SP track PV request. Set TRUE to Default = FALSE
enable SP to track PV. Ignored when
in Auto modes. SP will only track PV
when all three outputs are in manual.
As soon as any output returns to Auto,
PVTracking stops.
CVTrackReq BOOL CV Track request. Set true to enable CV Default = FALSE
Tracking when autotune is OFF.
Ignored in Hand and Override mode.
ManualAfterInit BOOL Manual mode after initialization Default = FALSE
request.
When TRUE, the appropriate CV(n),
where (n) can be 1, 2, or 3, will be
placed in Manual mode when
CV(n)Initializing is set TRUE unless the
current mode is Override or Hand.
When ManualAfterInit is FALSE, the
CV(n) mode will not be changed.
ProgProgReq BOOL Program Program Request. Default = FALSE
Set TRUE by the user program to
request Program control.
Ignored if ProgOperReq is TRUE.
Holding this TRUE and ProgOperReq
FALSE can be used to lock the function
block into program control.
When ProgValueReset is TRUE, the
function block resets the input to
FALSE.
ProgOperReq BOOL Program Operator Request. Default = FALSE
request Operator control.
Holding this TRUE can be used to lock
the function block into operator
control.
If value of HandFB < 0 or > 100, set
unique Status bit and limit value used
for CV.
ProgCV1AutoReq BOOL Program-Auto mode request for CV1. Default = FALSE
request Auto mode.
If value of CV1HandFB < 0 or > 100,
set unique Status bit and limit value
used for CV1.


request Auto mode.
used for CV2.
request Auto mode.
used for CV3.
ProgCV1ManualReq BOOL Program-Manual mode request for Default = FALSE
CV1.
request Manual mode.
used for CV1.
CV2.
used for CV2.
CV3.
used for CV3.
ProgCV1OverrideReq BOOL Program-Override mode request for Default = FALSE
CV1.
request Override mode.
used for CV1.
CV2.
used for CV2.
CV3.
used for CV3.

ProgCV1HandReq BOOL Program-Hand mode request for CV1. Default = FALSE

request Hand mode. This value will
usually be read as a digital input from
a hand/auto station.
OperProgReq BOOL Operator Program Request. Default = FALSE
Set TRUE by the operator interface to
request Program control. The function
block resets this parameter to FALSE.
OperOperReq BOOL Operator Operator Request. Default = FALSE
request Operator control. The function
block will reset this parameter to
FALSE.
OperCV1AutoReq BOOL Operator-Auto mode request for CV1. Default = FALSE
request Auto mode. The function
FALSE.
FALSE.
FALSE.
OperCV1ManualReq BOOL Operator-Manual mode request for Default = FALSE
CV1.
request Manual mode. The function
CV2.


CV3.
ProgValueReset BOOL Reset Program control values. Default = FALSE
When TRUE, the Prog_xxx_Req inputs
are reset to FALSE.
When TRUE and Program control, set
SPProg equal to SP and CVxProg equal
to CVx.
When ProgValueReset is TRUE, the
instruction sets this input to FALSE.
TimingMode DINT Selects Time Base Execution mode. Valid = 0…2
Value/Description Default = 0
0 = Periodic mode
1 = Oversample mode
For more information about timing
modes, see Function Block Attributes.
OverSampleDT REAL Execution time for Oversample mode. Valid = 0…4194.303 seconds
Default = 0
RTSTime DINT Module update period for Real Time Valid = 1…32,767
Sampling mode. 1 count = 1 ms
RTSTimeStamp DINT Module time stamp value for Real Valid = 0…32,767
Time Sampling mode. (wraps from 32,767…0)
1 count = 1 ms
PVTuneLimit REAL PV tuning limit scaled in the PV units. Valid = any float
When Autotune is running and Default=0
predicted PV exceeds this limit, the
tuning will be aborted.
AtuneTimeLimit REAL Maximum time for autotune to Valid range: any float > 0.
complete following the CV step Default = 60 minutes
change. When autotune exceeds this
time, tuning will be aborted.
NoiseLevel DINT An estimate of the noise level Range: 0…2
expected on the PV to compensate for Default=1
it during tuning.
The selections are: 0=low,
1=medium, 2=high
CV1StepSize REAL CV1 step size in percent for the tuning Range: -100% … 100%
step test. Step size is directly added to Default=10%
CV1 subject to high/low limiting.

CV1ResponseSpeed DINT Desired speed of closed loop response Range: 0…2

for CV1. Default=1
Slow response: ResponseSpeed=0
Medium response: ResponseSpeed=1
Fast response: ResponseSpeed=2.
If ResponseSpeed is less than 0, Slow
response is used. If ResponseSpeed is
greater than 2, Fast response is used.
for CV2. Default=1
for CV3. Default=1
CV1ModelInit BOOL Internal model initialization switch for Default = FALSE
CV1. Refer to topic CC Function Block
Model Initialization in CC Function
Block Tuning.
Block Tuning.
Block Tuning.
Factor REAL Non-integrating model approximation Default = 100
factor. Only used for integrating
process types.
AtuneCV1Start BOOL Start Autotune request for CV1. Set Default = FALSE
True to initiate auto tuning of the CV1
output. Ignored when CV1 is not in
Manual mode. The function block
resets the input to FALSE.

AtuneCV1UseModel BOOL Use Autotune model request for CV1. Default = FALSE
Set True to replace the current model
parameters with the calculated
Autotune model parameters. The
function block resets the input
parameter to FALSE.
parameter to FALSE.
parameter to FALSE.
AtuneCV1Abort BOOL Abort Autotune request for CV1. Set Default = FALSE
True to abort the auto tuning of CV1
output. The function block resets
input parameter to FALSE.
Output Parameters Data Type Description Valid and Default Values

Cleared to false if CV1EU, CV2EU or
CV3EU overflows.
CV1EU REAL Scaled control variable output for
CV1. Scaled by using CV1EUMax and
CV1EUMin, where CV1EUMax
corresponds to 100% and CV1EUMin
corresponds to 0%. This output is
typically used to control an analog
output module or a secondary loop.
CV1EU = (CV1 * CV1EUSpan / 100) +
CV1EUMin
CV1EU span calculation: CV1EUSpan
= (CV1EUMax − CV1EUMin)


CV2EUMin
CV3EUMin
CV1 REAL Control variable 1 output. This value
will always be expressed as
0…100%. CV1 is limited by
CV1HLimit and CV1LLimit when in
Auto mode or in Manual mode if
CVManLimiting is TRUE; otherwise
limited by 0 and 100%.
DeltaCV1 REAL Difference between the Current CV1
and the previous CV1 (Current CV1 -
previous CV1).
previous CV2).
previous CV3).

CV1Initializing BOOL Initialization mode indicator for CV1.

Set TRUE when CV1InitReq or
function blockFirstScan are TRUE, or
on a TRUE to FALSE transition of
CV1Fault (bad to good).
CV1Initializing is set FALSE after the
function block has been initialized
and CV1InitReq is no longer TRUE.
CV2nitializing BOOL Initialization mode indicator for CV2.
Set TRUE when CV2InitReq, function
blockFirstScan or OLCFirstRun, are
TRUE, or on a TRUE to FALSE
transition of CV2Fault (bad to good).
CV3initializing BOOL Set TRUE when CV3InitReq, function
blockFirstScan or OLCFirstRun, are
TRUE, or on a TRUE to FALSE
transition of CV3Fault (bad to good).
CV1HAlarm BOOL CV1 high alarm indicator. TRUE
when the calculated value for CV1 >
100 or CV1HLimit.
100 or CV2HLimit.
100 or CV3HLimit.
CV1LAlarm BOOL CV1 low alarm indicator. TRUE when
the calculated value for CV1 < 0 or
CV1LLimit.
CV2LLimit.
CV3LLimit.
CV1ROCPosAlarm BOOL CV1 rate of change alarm indicator.
TRUE when the calculated rate of
change for CV1 exceeds
CV1ROCPosLimit.
CV2ROCPosLimit.
CV3ROCPosLimit.

CV1ROCNegAlarm BOOL CV1 rate of change alarm indicator.

CV1ROCNegLimit.
CV2ROCNegLimit.
CV3ROCNegLimit.
SP REAL Current setpoint value. The value of
SP is used to control CV when in the
Auto or the PV Tracking mode,
scaled in PV units.
SPPercent REAL The value of SP expressed in percent
of span of PV.
SPPercent = ((SP − PVEUMin ) *
100) / PVSpan.
PV Span calculation: PVSpan =
( PVEUMax − PVEUMin )
SPHAlarm BOOL SP high alarm indicator. TRUE when
the SP ≥ SPHLimit.
SPLAlarm BOOL SP low alarm indicator. TRUE when
the SP ≤ SPLLimit.
PVPercent = (( PV − PVEUMin ) *
100) / PVSpan
E REAL Process error. Difference between SP
and PV, scaled in PV units.
EPercent REAL The error expressed as a percent of
span.
CV1WindupHOut BOOL CV1 Windup high indicator.
TRUE when either a SP high or CV1
high/low limit has been reached.
This signal will typically be used by
the WindupHIn input to limit the
windup of the CV1 output on a
primary loop.
primary loop.


primary loop.
CV1WindupLOut BOOL CV1 Windup low indicator.
TRUE when either a SP or CV1
the WindupLIn input to limit the
primary loop.
primary loop.
primary loop.
ProgOper BOOL Program/Operator control indicator.
TRUE when in Program control.
FALSE when in Operator control.
CV1Auto BOOL Auto mode indicator for CV1. TRUE
when CV1 in the Auto mode.
CV1Manual BOOL Manual mode indicator CV1. TRUE
when CV1 in the Manual mode.
CV1Override BOOL Override mode indicator for CV1.
TRUE when CV1 in the Override
mode.
mode.
mode.

CV1Hand BOOL Hand mode indicator for CV1. TRUE

when CV1 in the Hand mode.
DeltaT REAL Elapsed time between updates in
seconds.
CV1StepSizeUsed REAL Actual CV1 step size used for tuning.
CV1GainTuned REAL The calculated value of the internal
model gain for CV1 after tuning is
completed.
completed.
completed.
CV1TCTuned REAL The calculated value of the internal
model time constant for CV1 after
tuning is completed.
CV1DTTuned REAL The calculated value of the internal
model deadtime for CV1 after tuning
is completed.
is completed.
is completed.
CV1RespTCTunedS REAL The calculated value of the control
variable time constant in slow
response speed for CV1 after tuning
is completed.
is completed.
is completed.

CV1RespTCTunedM REAL The calculated value of the control

variable time constant in medium
is completed.
is completed.
is completed.
CV1RespTCTunedF REAL The calculated value of the control
variable time constant in fast
is completed.
is completed.
is completed.
AtuneCV1On BOOL Set True when auto tuning for CV1
has been initiated.
has been initiated.
has been initiated.
AtuneCV1Done BOOL Set True when auto tuning for CV1
has completed successfully.
AtuneCV1Aborted BOOL Set True when auto tuning for CV1
has been aborted by user or due to
errors that occurred during the auto
tuning operation.
tuning operation.
tuning operation.
AtuneCV1Status DINT Indicates the tuning status for CV1.

AtuneCV1Fault BOOL CV1 Autotune has generated any of

the following faults.
AtuneCV1PVOutOfLimit BOOL Either PV or the deadtime-step
ahead prediction of PV exceeds
PVTuneLimit during CV1
Autotuning. When True, CV1
Autotuning is aborted.
AtuneCV1ModeInv BOOL The CC mode was not Manual at
start of Autotuning or the CC mode
was changed from Manual during
CV1 Autotuning. When True, CV1
Autotuning is not started or is
aborted.
aborted.
aborted.
AtuneCV1WindupFault BOOL CV1WindupHIn or CV1WindupLIn is
True at start of CV1 Autotuning or
during CV1 Autotuning. When True,
CV1 Autotuning is not started or is
aborted.
aborted.
aborted.

AtuneCV1StepSize0 BOOL CV1StepSizeUsed = 0 at start of CV1

Autotuning is not started.
AtuneCV1LimitsFault BOOL CV1LimitsInv and CVManLimiting
are True at start of CV1 Autotuning
or during CV1 Autotuning. When
True, CV1 Autotuning is not started
or is aborted.
or is aborted.
or is aborted.
AtuneCV1InitFault BOOL CV1Initializing is True at start of CV1
Autotuning or during CV1
aborted.
aborted.
aborted.
AtuneCV1EUSpanChanged BOOL CV1EUSpan or PVEUSpan changes
CV1 Autotuning is aborted.
AtuneCV1Changed BOOL CV1Oper is changed when in
Operation control or CV1Prog is
changed when in Program control or
CV1 becomes high/low or ROC
limited during CV1 Autotuning.
When True, CV1 Autotuning is
aborted.


aborted.
aborted.
AtuneCV1Timeout BOOL Elapsed time is greater then
AtuneTimeLimit since step test is
started. When True, CV1 Autotuning
is aborted.
is aborted.
is aborted.
AtuneCV1PVNotSettled BOOL The PV is changed too much to
Autotune for CV1. When True, CV1
Autotuning is aborted. Wait until PV
is more stable before autotuning
CV1.
CV2.
CV3.
Status1 DINT Bit mapped status of the function
block.
Status2 DINT Additional bit mapped status for the
function block.
Status3CV1 DINT Additional bit mapped CV1 status for
the function block. A value of 0
indicates that no faults have
occurred.
occurred.


occurred.
InstructFault BOOL The function block has generated a
fault. Indicates state of bits in
Status1, Status2, and Status3CV(n),
where (n) can be 1, 2, or 3.
A value of 0 indicates that no faults
have occurred. Any parameters that
could be configured with an invalid
value must have a status parameter
to indicate their invalid status.
PVFaulted BOOL Process variable PV health bad.
PVSpanInv BOOL The span of PV inValid, PVEUMax <
PVEUMin.
SPProgInv BOOL SPProg < SPLLimit or > SPHLimit.
Limit value used for SP.
SPOperInv BOOL SPOper < SPLLimit or > SPHLimit.
Limit value used for SP.
SPLimitsInv BOOL Limits inValid: SPLLimit < PVEUMin,
SPHLimit > PVEUMax, or SPHLimit
< SPLLimit. If SPHLimit < SPLLimit,
then limit value by using SPLLimit.
SampleTimeTooSmall BOOL Model DeadTime / DeltaT must be
less than or equal to 200.
FactorInv BOOL Entered value for Factor < 0.
TimingModeInv BOOL Entered TimingMode inValid. If the
current mode is not Override or Hand
then set to Manual mode.
RTSMissed BOOL Only used when in Real Time
Sampling mode. Is TRUE when
ABS(DeltaT – RTSTime) > 1
millisecond.
RTSTimeInv BOOL Entered RTSTime inValid.
RTSTimeStampInv BOOL RTSTimeStamp inValid. If the current
mode is not Override or Hand, then
set to Manual mode.
DeltaTInv BOOL DeltaT inValid. If the current mode is
not Override or Hand then, set to
Manual mode.
CV1Faulted BOOL Control variable CV1 health bad.
CV1HandFBFaulted BOOL CV1 HandFB value health bad.
CV1ProgInv BOOL CV1Prog < 0 or > 100, or <
CVManLimiting is TRUE. Limit value
used for CV1.


used for CV2.
used for CV3.
CV1OperInv BOOL CV1Oper < 0 or > 100, or <
used for CV1.
CV2LLimit or> CV2HLimit when
used for CV2.
CV3LLimit or> CV3HLimit when
used for CV3.
CV1OverrideValueInv BOOL CV1OverrideValue < 0 or > 100.
Limit value used for CV1.
CV1TrackValueInv BOOL Entered CV1TrackValue < 0 or >
100. Limit value used for CV1.
CV1EUSpanInv BOOL The span of CV1EU inValid,
CV1EUMax equals CV1EUMin.
CV1LimitsInv BOOL CV1LLimit < 0, CV1HLimit > 100, or
CV1HLimit <= CV1LLimit. If
CV1HLimit <= CV1LLimit, limit CV1
by using CV1LLimit.
by using CV2LLimit.
by using CV3LLimit.
CV1ROCLimitInv BOOL CV1ROCLimit < 0, disables CV1 ROC
limiting.


limiting.
limiting.
CV1HandFBInv BOOL CV1HandFB < 0 or > 100. Limit
value used for CV1.
value used for CV2.
value used for CV3.
CV1ModelGainInv BOOL CV1ModelGain is 1.#QNAN or -
1.#IND (Not A Number), or ± 1.$
(Infinity ∞ ).
(Infinity ∞ ).
(Infinity ∞ ).
CV1ModelTCInv BOOL CV1ModelTC < 0.
CV1ModelDTInv BOOL CV1ModelDT < 0.
CV1RespTCInv BOOL CV1RespTC < 0.
CV1TargetInv BOOL CV1Target < 0. or > 100.
Description
Coordinated Control is a flexible model-based algorithm that can be used in

various configurations, for example:
• Three control variables are used to control one process variable

• Heat-cool split range control
• Feedforward control
• Zone temperature control
• Constraint control

The following illustration is an example of the Coordinated Control closed loop

configuration.
In this example, CV1 is in Manual mode, CV2 is driven to its target value, and
CV3 is the active control. The following table describes this example in detail.
Name Description
CV1 Is in Manual mode
CV2 Is driven to its target value (CV2 = Target1stCV)
CV3 Is the active control (CV3 = Act1stCV)
This example could be a heat cooled system with a feed forward where:
• CV1 is feed forward;

• CV2 is cooling;
• CV3 heating.
Since CV1 is in Manual mode, CV3 target value as the lowest priority goal cannot
be accomplished. PV will be maintained at the setpoint by using CV3, and at the
same time CV2 will be driven to its target value (2nd priority goal).
If the operator changes the CV1 manual value, the control variable will take the
change into account when calculating new CV3 and CV2.
M1 CV1 - PV First order lag with deadtime model

T Target Response
C3 Model based algorithm to control PV by using CV3
Y1, Y2, Y3 Model outputs of M1, M2, M3
Y PV prediction

No
Major/Minor Faults

faults.
Execution
Function Block

Instruction first run N/A.
Structured Text


Example
Function Block
Structured Text
ccTag.PV := ccInput1;
ccTag.SPProg := ccInput2;
ccTag.CV1Prog := ccInput3;
CC(ccTag);
ccOutput1 := ccTag.CV1EU;

See also
CC Function Block Configuration on page 181
Select the Control Variable on page 259
Switch between Program control and Operator control on page 254
CC Function Block Starting with the default configuration, configure the following parameters:
Configuration Parameter Description
PVEUMax Maximum scaled value for PV.
PVEUMin Minimum scaled value for PV.
SPHLimit SP high limit value, scaled in PV units.
PPLLimit SP low limit value, scaled in PV units.
CV1InitValue An initial value of the control variable CV1 output.
If you have the process models available, you can intuitively tune the CC control
variable by entering the following parameters:
ModelGains Nonzero numbers (negative for direct acting control variable, positive
for reverse acting control variable)
ModelTimeConstants Always positive numbers
ModelDeadtimes Always positive numbers
ResponseTimeConstants Always positive numbers
Active 1st, 2nd and 3rd CV Specify the order in which CV's will be used to compensate for PV - SP
error.
Target 1st, 2nd and 3rd CV Specify the priorities in which CV's will be driven to their respective
target values.
CVTargetValues Specify to which values should the control variable drive the
individual CV's
TargetRespTC Specify the speed of CV's to approach the target values

The function block behaves in a defined way for any combination of CV Active
and Target lists and CV Auto-Manual modes. The function block attempts to
accomplish these goals in the following order of priorities:
1. Control PV to SP
2. Control Target1stCV to its target value
3. Control Target2ndCV to its target value
If any CV is put in Manual mode, the CC function block gives up the goal with
priority 3. If two CV's are in Manual mode, the CC function block is reduced to
an IMC, (single input, single output) control variable controlling the PV to its
setpoint.
In addition to this, however, the control variable reads the Manual CV values from
the CV's that are in Manual mode as feedforward signals. Then, the CC function
block predicts the influence of the Manual CV values on the PV by using the
appropriate internal models, and calculates the third CV that remains in Auto
mode.
For integrating process types (such as level control and position control), internal
nonintegrating models are used to approximate the integrating process. The
Factor parameter is used to convert the identified integrating process models to
nonintegrating internal models used for CV calculation. This is necessary to
provide for stable function block execution.
CC Function Block Model A model initialization occurs:

Initialization • During First Scan of the block
• When the ModelInit request parameter is set
• When DeltaT changes
You may need to manually adjust the internal model parameters or the response
time constants. You can do so by changing the appropriate parameters and setting
the appropriate ModelInit bit. The internal states of the control variable will be
initialized, and the bit will automatically reset.
For example, modify the Model Gain for CV2 - PV model. Set the ModelInit2
parameter to TRUE to initialize the CV2 - PV internal model parameters and for
the new model gain to take effect.

CC Function Block Tuning The function block is equipped with an internal tuner (modeler). The purpose of
the tuner is to identify the process model parameters and to use these parameters
as internal model parameters (gain, time constant, and deadtime). The tuner also
calculates an optimal response time constant. Set the tuner by configuring the
following parameters for each CV - PV process.
ProcessType Integral (level, position control) or nonintegrating (flow, pressure control)

ProcessGainSign Set to indicate a negative process gain (increase in output causes a decrease in PV); reset to
indicate a positive process gain (increase in output causes an increase in PV).
ResponseSpeed Slow, medium, or fast, based on control objective.
NoiseLevel An estimate of noise level on PV-low, medium, or high-such that the tuner can distinguish
which PV change is a random noise and which is caused by the CV step change.
StepSize A nonzero positive or negative number defining the magnitude of CV step change in either
positive or negative direction, respectively.
PVTuneLimit (only for integrating process type) in PV engineering units, defines how much of PV change
that is caused by CV change to tolerate before aborting the tuning test due to exceeding this
limit.
The tuner is started by setting the appropriate AtuneStart bit (AtuneCV1Start,

for example). You can stop the tuning by setting the appropriate AtuneAbort bit.
After the tuning is completed successfully, the GainTuned, TCTuned, DTTuned,

and RespTCTuned parameters are updated with the tuning results, and the
AtuneStatus code is set to indicate complete.
You can copy these parameters to the ModelGain, ModelTC, and ResponseTC,
respectively, by setting the AtuneUseModel bit. The control variable will
automatically initialize the internal variables and continue normal operation. It
will automatically reset the AtuneUseModel bit.
See also
CC Function Block Tuning Procedure on page 184
CC Function Block If an error occurs during the tuning procedure, the tuning is aborted, and an
appropriate AtuneStatus value is set. Also, a user can abort the tuning by setting
Tuning Errors
the AtuneAbort parameter.
After an abort, the CV will assume its value before the step change, and the
GainTuned, TCTuned, DTTuned, and RespTCTuned parameters are not
updated. The AtuneStatus parameter identifies the reason for the abort.

CC Function Block Tuning Follow these steps to configure the tuner.

Procedure 1. Put all three CV parameters into Manual mode.
2. Set the AtuneStart parameter.
The tuner starts collecting PV and CV data for noise calculation.
3. After collecting 60 samples (60*DeltaT) period, the tuner adds StepSize to

the CV.
After successfully collecting the PV data as a result of the CV step change,

the CV assumes its value before the step change and the AtuneStatus,
GainTuned, TCTuned, DTTuned, and RespTCTuned parameters are
updated.
4. Set the AtuneUseModel parameter to copy the tuned parameters to the

model parameters
The function block then resets the AtuneUseModel parameter.

After a successful AutoTuneDone, the Atune parameter is set to one (1).
Tuning completed successfully.
To identify models and to calculate response time constants for all three CV-PV
processes, run the tuner up to three times to obtain CV1-PV, CV2-PV, and CV3-
PV models and tuning, respectively.
Internal Model Control This information applies to the CompactLogix 5370, ControlLogix 5570,
(IMC) CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The IMC instruction controls a single process variable by manipulating a single

control-variable output. This function block performs an algorithm where the
actual error signal is compared against that of an internal first-order lag plus
deadtime model of the process. The IMC function block calculates the control
variable output (CV) in the Auto mode based on the PV - SP deviation, internal
model, and tuning.
Available Languages
Ladder Diagram

Function Block
Structured Text
IMC(IMC_tag);
Operands
Function Block
Operands: Type: Format Description:

IMC tag INTERNAL MODEL CONTROL Structure IMC Structure
Structured Text
Operands: Type: Format Description:

IMC tag INTERNAL MODEL CONTROL Structure IMC Structure

Important: Whenever an APC block detects a change in Delta Time (DeltaT), a ModelInit will be performed. For
this reason the blocks should only be run in one of the TimingModes in which DeltaT will be
constant.
• TimingMode = 0 (Periodic) while executing these function blocks in a Periodic Task
• TimingMode = 1 (Oversample)
In either case, if the Periodic Task time is dynamically changed, or the OversampleDT is dynamically
changed, the block will perform a ModelInit.
The following TimingMode setting are not recommended due to jitter in DeltaT:
• TimingMode = 0 (Periodic) while executing these function blocks in a Continuous or Event Task
• TimingMode = 2 (RealTimeSample)
Structure
Input Parameters Data Type Description Valid and Default Values

EnableIn BOOL Enable Input. If False, the function block Default=TRUE
will not execute and outputs are not
updated.
PV REAL Scaled process variable input. This value is Valid = any float
typically read from an analog input Default = 0.0
module.
PVFault BOOL PV bad health indicator. If PV is read from Default = FALSE
an analog input, then PVFault will FALSE = Good Health
normally be controlled by the analog input
fault status.
If PVFault is TRUE, it indicates an error on
the input module, set bit in Status.
PVUEMax REAL Maximum scaled value for PV. The value of Valid = PVEUMin < PVEUMax
PV and SP that corresponds to 100% span ≤ maximum positive float
of the Process Variable. If PVEUMax ≤ Default = 100.0
PVEUMin, set bit in Status.
PVUEMin REAL Minimum scaled value for PV. The value of Valid = maximum negative
PV and SP that corresponds to 0% span of float ≤ PVEUMin < PVEUMax
the Process Variable. If PVEUMax ≤ Default = 0.0
PVEUMin, set bit in Status.
SPProg REAL SP Program value, scaled in PV units. SP is Valid = SPLLimit to SPHLimit
set to this value when in Program control. Default = 0.0
If value of SPProg or SPOper < SPLLimit or
> SPHLimit, set bit in Status and limit
value used for SP.
SPOper REAL SP Operator value, scaled in PV units. SP set Valid = SPLLimit to SPHLimit
to this value when in Operator control. Default = 0.0
If value of SPProg or SPOper < SPLLimit or
> SPHLimit, set bit in Status and limit
value used for SP.
SPCascade REAL SP Cascade value, scaled in PV units. If Valid = SPLLimit to SPHLimit
CascadeRatio mode and UseRatio is FALSE, Default = 0.0
then SP is set to this value, typically this
will be CVEU of a primary loop. If
CascadeRatio mode and UseRatio is TRUE,
then SP is set to this value times Ratio.
If value of SPCascade < SPLLimit or >
SPHLimit, set bit in Status and limit value
used for SP.

SPHLimit REAL SP high limit value, scaled in PV units. Valid = SPLLimit to PVEUMax
If SPHLimit < SPLLimit or SPHLimit > Default = 100.0
PVEUMax, set bit in Status.
SPLLimit REAL SP low limit value, scaled in PV units. Valid = PVEUMin to SPHLimit
If SPLLimit < PVEUMin, or SPHLimit < Default = 0.0
SPLLimit, set bit in Status and limit SP by
using the value of SPLLimit.
UseRatio BOOL Allow Ratio control permissive. Set TRUE to Default = FALSE
enable ratio control when in CascadeRatio
mode.
RatioProg REAL Ratio Program multiplier, no units (for Valid = RatioLLimit to
example, scalar). Ratio and RatioOper are RatioHLimit
set to this value when in Program control. Default = 1.0
If RatioProg or RatioOper < RatioLLimit or
> RatioHLimit, set bit in Status and limit
value used for Ratio.
RatioOper REAL Ratio Operator multiplier, no units (for Valid = RatioLLimit to
example, scalar). Ratio is set to this value RatioHLimit
when in Operator control. Default = 1.0
If RatioProg or RatioOper < RatioLLimit or
> RatioHLimit, set bit in Status and limit
value used for Ratio.
RatioHLimit REAL Ratio high limit value, no units (for Valid = RatioLLimit to
example, scalar). Limits the value of Ratio maximum positive float
obtained from RatioProg or RatioOper. Default = 1.0
If RatioLLimit < 0, set bit in Status and
limit to zero. If RatioHLimit < RatioLLimit,
set bit in Status and limit Ratio by using the
value of RatioLLimit.
RatioLLimit REAL Ratio low limit value, no units (for Valid = 0.0 to RatioHLimit
example, scalar). Limits the value of Ratio Default = 1.0
obtained from RatioProg or RatioOper.
If RatioLLimit < 0, set bit in Status and
limit to zero. If RatioHLimit < RatioLLimit,
set bit in Status and limit Ratio by using the
value of RatioLLimit.
CVFault BOOL Control variable bad health indicator. If Default = FALSE
CVEU controls an analog output, then FALSE = Good Health
CVFault will normally come from the
analog output's fault status.
If CVFault is TRUE, it indicates an error on
the output module, set bit in Status.
CVInitReq BOOL CV initialization request. While TRUE, set Default = FALSE
CVEU to the value of CVInitValue. This
signal will normally be controlled by the In
Hold status on the analog output module
controlled by CVEU or from the InitPrimary
output of a secondary IMC loop.

CVInitValue REAL CVEU initialization value, scaled in CVEU Valid = any float
units. When CVInitializing is TRUE set CVEU Default = 0.0
equal to CVInitValue and CV to the
corresponding percentage value.
CVInitValue will normally come from the
feedback of the analog output controlled
by CVEU or from the setpoint of a
secondary loop. The function block
initialization is disabled when CVFaulted or
CVEUSpanInv are TRUE (bad).
CVProg REAL CV Program-Manual value. CV is set to this Valid = 0.0 to 100.0
value when in Program control and Manual Default = 0.0
mode.
If value of CVProg or CVOper < 0 or > 100,
or < CVLLimit or > CVHLimit when
CVManLimiting is TRUE, set unique Status
bit and limit value used for CV.
CVOper REAL CV Operator-Manual value. CV is set to this Valid = 0.0 to 100.0
value when in Operator control and Manual Default = 0.0
mode. If not Operator-Manual mode, set
CVOper to the value of CV at the end of
each function block execution.
If value of CVProg or CVOper < 0 or > 100,
or < CVLLimit or > CVHLimit when
CVManLimiting is TRUE, set unique Status
bit and limit value used for CV.
CVOverrideValue REAL CV Override value. CV set to this value Valid = 0.0 to 100.0
when in Override mode. Default = 0.0
This value should correspond to a safe state
output of the IMC loop. If value of
CVOverrideValue < 0 or >100, set unique
CVTrackValue REAL CV track value. When CVTrackReq is Valid = 0.0 to 100.0
enabled and the IMC function block is in Default = 0.0
Manual, the CVTrackValue will be ignored,
and the IMC internal model will update its
historical data with the CVOper or CVProg
value. When CVTrackReq is enabled and
the IMC function block is in Auto, the
internal model will update its historical
data based on the value of CVTrackValue.
The CV in this case will be allowed to move
as if the IMC function block was still
controlling the process. This is useful in
multiloop selection schemes where you
want the IMC function block to follow the
output of a different controlling algorithm,
where you would connect the output of the
CVTrackValue.
CVManLimiting BOOL Limit CV in Manual mode request. If Default = FALSE
Manual mode and CVManLimiting is TRUE,
CV will be limited by the CVHLimit and
CVLLimit values.
CVEUMax REAL Maximum value for CVEU. The value of Valid = any float
CVEU that corresponds to 100% CV. If Default = 100.0
CVEUMax = CVEUMin, set bit in Status.

CVEUMin REAL Minimum value of CVEU. The value of CVEU Valid = any float
that corresponds to 0% CV. If CVEUMax = Default = 0.0
CVEUMin, set bit in Status.
CVHLimit REAL CV high limit value. This is used to set the Valid = CVLLimit < CVHLimit
CVHAlarm output. It is also used for ≤ 100.0
limiting CV when in Auto or CascadeRatio Default = 100.0
modes or Manual mode if CVManLimiting
is TRUE.
If CVLLimit < 0, if CVHLimit > 100, if
CVHLimit < CVLLimit, set bit in Status. If
CVHLimit < CVLLimit, limit CV by using the
value of CVLLimit.
CVLLimit REAL CV low limit value. This is used to set the Valid = 0.0 ≤ CVLLimit <
CVLAlarm output. It is also used for limiting CVHLimit
CV when in Auto or CascadeRatio modes or Default = 0.0
Manual mode if CVManLimiting is TRUE.
If CVLLimit < 0, if CVHLimit > 100, if
CVHLimit < CVLLimit, set bit in Status.
If CVHLimit < CVLLimit, limit CV by using
the value of CVLLimit.
CVROCPosLimit REAL CV increasing rate of change limit, in Valid = 0.0 to maximum
percent per second. positive float
Rate of change limiting is only used when Default = 0.0
in Auto or CascadeRatio modes or Manual
mode if CVManLimiting is TRUE.
A value of zero disables CV ROC limiting.
If value of CVROCPOSLimit < 0, set bit in
Status and disable CV ROC limiting.
CVROCNegLimit REAL CV decreasing rate of change limit, in Valid = 0.0 to maximum
percent per second. positive float
Rate of change limiting is only used when Default = 0.0
in Auto or CascadeRatio modes or Manual
mode if CVManLimiting is TRUE.
A value of zero disables CV ROC limiting.
If value of CVROCNegLimit < 0, set bit in
Status and disable CV ROC limiting.
HandFB REAL CV HandFeedback value. CV set to this Valid = 0.0…100.0
value when in Hand mode and Default = 0.0
HandFBFault is FALSE (good health). This
value would typically come from the
output of a field mounted hand/auto
station and would be used to generate a
bumpless transfer out of Hand mode.
If value of HandFB < 0 or > 100, set unique
HandFBFault BOOL HandFB value bad health indicator. If the Default = FALSE
HandFB value is read from an analog input, FALSE = Good Health
then HandFBFault will normally be
controlled by the status of the analog input
channel.
If HandFBFault is TRUE, it indicates an error
on the input module, set bit in Status.

WindupHIn BOOL Windup high request. When TRUE, CV will Default = FALSE
not be allowed to increase in value. This
signal will typically be the WindupHOut
output from a secondary loop.
WinduplIn BOOL Windup low request. When TRUE, CV will Default = FALSE
not be allowed to decrease in value. This
signal will typically be the WindupLOut
output from a secondary loop.
GainEUSpan BOOL ModelGain units in EU or as % of span. Default = FALSE
CV ModelGain units in EU or % of span. Set TRUE = Gain in EU
to interpret ModelGain as EU, reset to FALSE = Gain in % of span
interpret ModelGain as % of Span.
ProcessGainSign BOOL Used only for Autotuning. Sign of the Default = FALSE
process gain (Delta PV/Delta CV).
(increase in output causes a decrease in
PV).
Reset to indicate a positive process gain
(increase in output causes an increase in
PV).
ProcessType DINT Process type selection (1=Integrating, Default = 0
0=non-integrating)
ModelGain REAL The internal model gain parameter. Enter a Valid = maximum negative
positive or negative gain depending on float −> maximum positive
process direction. float
Default = 0.0
ModelTC REAL The internal model time constant in Valid = 0.0 to maximum
seconds. positive float
Default = 0.0
ModelDT REAL The internal model deadtime in seconds. Valid = 0.0 to maximum
positive float
Default = 0.0
RespTC REAL The tuning parameter that determines the Valid = 0.0 to maximum
speed of the control variable action in positive float
seconds. Default = 0.0
PVTracking BOOL SP track PV request. Set TRUE to enable SP Default = FALSE
to track PV. Ignored when in CascadeRatio
or Auto modes.
CVTrackReq BOOL CV Track request. Set true to enable CV Default = FALSE
Tracking when autotune is OFF. Ignored in
Hand and Override mode.
AllowCasRat BOOL Allow CascadeRatio mode permissive. Set Default = FALSE
TRUE to allow CascadeRatio mode to be
selected by using either ProgCasRatReq or
OperCasRatReq.
ManualAfterInit BOOL Manual mode after initialization request. Default = FALSE
When TRUE, the function block will be
placed in the Manual mode when
CVInitializing is set TRUE unless the current
mode is Override or Hand.
When ManualAfterInit is FALSE, the
function block's mode will not be changed.


Set TRUE by the user program to request
Program control. Ignored if ProgOperReq is
TRUE. Holding this TRUE and ProgOperReq
FALSE can be used to lock the function
block into program control.
When ProgValueReset is TRUE, the function
block resets the input to FALSE.
ProgOperReq BOOL Program Operator Request. Set TRUE by the Default = FALSE
user program to request Operator control.
Holding this TRUE can be used to lock the
function block into operator control. When
ProgValueReset is TRUE, the function block
ProgCasRatReq BOOL Program-Cascade/Ratio mode request. Set Default = FALSE
TRUE by the user program to request
Cascasde/Ratio mode. When
ProgAutoReq BOOL Program-Auto mode request. Set TRUE by Default = FALSE
the user program to request Auto mode.
ProgManualReq BOOL Program-Manual mode request. Set TRUE Default = FALSE
by the user program to request Manual
mode. When ProgValueReset is TRUE, the
function block resets the input to FALSE.
ProgOverrideReq BOOL Program-Override mode request. Set TRUE Default = FALSE
by the user program to request Override
mode. When ProgValueReset is TRUE, the
function block resets the input to FALSE.
ProgHandReq BOOL Program-Hand mode request. Set TRUE by Default = FALSE
the user program to request Hand mode.
This value will usually be read as a digital
input from a hand/auto station. When
OperProgReq BOOL Operator Program Request. Set TRUE by the Default = FALSE
operator interface to request Program
control. The function block resets this
parameter to FALSE.
OperOperReq Operator Operator Request. Set TRUE by Default = FALSE
the operator interface to request Operator
control. The function block will reset this
parameter to FALSE.
OperCasRatReq BOOL Operator-CascadeRatio mode request. Set Default = FALSE
TRUE by the operator interface to request
CascadeRatio mode. The function block will
reset this parameter to FALSE.
OperAutoReq BOOL Operator-Auto mode request. Set TRUE by Default = FALSE
the operator interface to request Auto
mode. The function block will reset this
parameter to FALSE.

OperManualReq BOOL Operator-Manual mode request. Set TRUE Default = FALSE

by the operator interface to request
Manual mode. The function block will reset
this parameter to FALSE.
ProgValueReset BOOL Reset Program control values. When TRUE, Default = FALSE
the Prog_xxx_Req inputs are reset to
FALSE.
When TRUE and Program control, set
SPProg equal to SP and CVProg equal to CV.
TimingMode DINT Selects Time Base Execution mode. Valid = 0…2
0 = Periodic mode
1 = Oversample mode
OverSampleDT REAL Execution time for Oversample mode. Valid = 0 to max. TON_Timer
elapsed time (4194.303
seconds)
Default = 0
RTSTime DINT Module update period for Real Time Valid = 1 to 32,767
Sampling mode. 1 count = 1 ms
RTSTimeStamp DINT Module time stamp value for Real Time Valid = 0 to 32,767
Sampling mode. (wraps from 32,767 to 0)
1 count = 1 ms
PVTuneLimit REAL PV tuning limit scaled in the PV units. Range: any float
When Autotune is running and predicted Default=0
PV exceeds this limit, the tuning will be
aborted.
AtuneTimeLimit REAL Maximum time for autotune to complete Valid range: any float > 0.
following the CV step change. When Default = 60 minutes
autotune exceeds this time, tuning will be
aborted.
NoiseLevel DINT An estimate of the noise level expected on Range: 0 to 2
the PV to compensate for it during tuning. Default=1
The selections are: 0=low, 1=medium,
2=high
CVStepSize REAL CV step size in percent for the tuning step Range: -100% … 100%
test. Step size is directly added to CV Default=10%
subject to high/low limiting.
ResponseSpeed DINT Desired speed of closed loop response. Range: 0 to 2
Slow response: ResponseSpeed=0 Default=1
ModelInit BOOL Internal model initialization switch. Default = FALSE

Factor REAL Non-integrating model approximation Default = 100

factor. Only used for integrating process
types.
AtuneStart BOOL Start Autotune request. Set True to initiate Default = FALSE
auto tuning of the function block. Ignored
when IMC is not in Manual mode. The
function block will reset this parameter to
FALSE.
AtuneUseModel BOOL Use Autotune model request. Set True to Default = FALSE
replace the current model parameters with
the calculated Autotune model
parameters. The function block sets the
AtuneAbort BOOL Abort Autotune request. Set True to abort Default = FALSE
the auto tuning of the IMC function block.
The function block sets input parameter to
FALSE.
Output Data Type Description Valid and

Parameters Default Values
EnableOut BOOL Indicates if instruction is enabled. Cleared
to false if CVEU overflows.
CVEU REAL Scaled control variable output. Scaled by
using CVEUMax and CVEUMin, where
CVEUMax corresponds to 100% and
CVEUMin corresponds to 0%. This output is
typically used to control an analog output
module or a secondary loop.
CVEU = (CV * CVEUSpan / 100) + CVEUMin
CVEU span calculation: CVEUSpan = (
CVEUMax − CVEUMin )
CV REAL Control variable output. This value will
always be expressed as 0…100%. CV is
limited by CVHLimit and CVLLimit when in
Auto or CascadeRatio mode or Manual
mode if CVManLimiting is TRUE; otherwise
DeltaCV REAL Difference between the Current CV and the
previous CV (Current CV - previous CV).
CVInitializing BOOL Initialization mode indicator. Set TRUE
when CVInitReq or function block FirstScan
are TRUE, or on a TRUE to FALSE transition
of CVFault (bad to good). CVInitializing is
set FALSE after the function block has been
initialized and CVInitReq is no longer TRUE.
CVHAlarm BOOL CV high alarm indicator. TRUE when the
calculated value for CV > 100 or CVHLimit.
CVLAlarm BOOL CV low alarm indicator. TRUE when the
calculated value for CV < 0 or CVLLimit.
CVROCPosAlarm BOOL CV rate of change alarm indicator. TRUE
when the calculated rate of change for CV
exceeds CVROCPosLimit.

CVROCNegAlarm REAL CV rate of change alarm indicator. TRUE

when the calculated rate of change for CV
exceeds CVROCNegLimit.
SP REAL Current setpoint value. The value of SP is
used to control CV when in the Auto, the
CascadeRatio, or the PV Tracking mode,
scaled in PV units.
SPPercent REAL The value of SP expressed in percent of
span of PV.
SPPercent = ((SP − PVEUMin ) * 100) /
PVSpan
where
PVSpan = PVEUMax − PVEUMin
SPHAlarm BOOL SP high alarm indicator. TRUE when the SP
≥ SPHLimit.
SPLAlarm BOOL SP low alarm indicator. TRUE when the SP
≤ SPLLimit.
PVPercent = (( PV − PVEUMin ) * 100) /
PVSpan
E REAL Process error. Difference between SP and
PV, scaled in PV units.
EPercent REAL The error expressed as a percent of span.
InitPrimary BOOL Initialize primary loop command. TRUE
when not in CasRat mode or when
CVInitializing is TRUE. This signal normally
would be used by the CVInitReq input of a
primary loop.
WindupHOut BOOL Windup high indicator. TRUE when either a
SP high or CV high/low limit has been
reached. This signal will typically be used
by the WindupHIn input to limit the
windup of the CV output on a primary loop.
WindupLOut BOOL Windup low indicator. TRUE when either a
SP or CV high/low limit has been reached.
This signal will typically be used by the
WindupLIn input to limit the windup of the
CV output on a primary loop.
Ratio REAL Current ratio multiplier, no units.
RatioHAlarm BOOL Ratio high alarm indicator. TRUE when
Ratio > RatioHLimit.
RatioLAlarm BOOL Ratio low alarm indicator. TRUE when Ratio
< RatioLLimit.
ProgOper BOOL Program/Operator control indicator. TRUE
when in Program control. FALSE when in
Operator control.
CasRat BOOL CascadeRatio mode indicator. TRUE when
in the CascadeRatio mode.
Auto BOOL Auto mode indicator. TRUE when in the
Auto mode.

Manual BOOL Manual mode indicator. TRUE when in the

Manual mode.
Override BOOL Override mode indicator. TRUE when in the
Override mode.
Hand BOOL Hand mode indicator. TRUE when in the
Hand mode.
DeltaT REAL Elapsed time between updates in seconds.
StepSizeUsed REAL Actual CV step size used for tuning.
GainTuned REAL The calculated value of the internal model
gain after tuning is completed.
TCTuned REAL The calculated value of the internal model
time constant after tuning is completed.
DTTuned REAL The calculated value of the internal model
deadtime after tuning is completed.
RespTCTunedS REAL The calculated value of the control variable
time constant in slow response speed after
RespTCTunedM REAL The calculated value of the control variable
time constant in medium response speed
after tuning is completed.
RespTCTunedF REAL The calculated value of the control variable
time constant in fast response speed after
AtuneOn BOOL Set True when auto tuning has been
initiated.
AtuneDone BOOL Set True when auto tuning has completed
successfully.
AtuneAborted BOOL Set True when auto tuning has been
aborted by user or due to errors that
occurred during the auto tuning operation.
AtuneStatus DINT Indicates the block tuning status.
AtuneFault BOOL Autotune has generated any of the Bit 0 of
following faults. AtuneStatus
AtunePVOutOfLimi BOOL Either PV or the deadtime-step ahead Bit 1 of
t prediction of PV exceeds PVTuneLimit AtuneStatus
during Autotuning. When True, Autotuning
is aborted.
AtuneModeInv BOOL The IMC mode was not Manual at start of Bit 2 of
Autotuning or the IMC mode was changed AtuneStatus
from Manual during Autotuning. When
True, Autotuning is not started or is
aborted.
AtuneCVWindupFa BOOL WindupHIn or WindupLIn is True at start of Bit 3 of
ult Autotuning or during Autotuning. When AtuneStatus
True, Autotuning is not started or is
aborted.
AtuneStepSize0 BOOL StepSizeUsed = 0 at start of Autotuning. Bit 4 of
When True, Autotuning is not started. AtuneStatus

AtuneCVLimitsFau BOOL CVLimitsInv and CVManLimiting are True at Bit 5 of

lt start of Autotuning or during Autotuning. AtuneStatus
When True, Autotuning is not started or is
aborted.
AtuneCVInitFault BOOL CVInitializing is True at start of Autotuning Bit 6 of
or during Autotuning. When True, AtuneStatus
Autotuning is not started or is aborted.
AtuneEUSpanChan BOOL CVEUSpan or PVEUSpan changes during Bit 7 of
ged Autotuning. When True, Autotuning is AtuneStatus
aborted.
AtuneCVChanged BOOL CVOper is changed when in Operatior Bit 8 of
control or CVProg is changed when in AtuneStatus
Program control or CV becomes high/low
or ROC limited during Autotuning. When
True, Autotuning is
aborted.
AtuneTimeout BOOL Elapsed time is greater then Bit 9 of
AtuneTimeLimit since step test is started. AtuneStatus
When True, Autotuning is aborted.
AtunePVNotSettle BOOL The PV is changed too much to Autotune. Bit 10 of
d When True, Autotuning is aborted. Wait AtuneStatus
until PV is more stable before autotuning.
Status1 DINT Bit mapped status of the function block.
Status2 DINT Additional bit mapped status for the
function block.
InstructFault BOOL Function block has generated a fault. Bit 0 of Status1
Indicates state of bits in Status1 and
status2.
A value of 0 indicates that no faults have
occurred. Any parameters that could be
configured with an invalid value must have
a status parameter to indicate their invalid
status.
PVFaulted BOOL Process variable PV health bad. Bit 1 of Status1
CVFaulted BOOL Control variable CV faulted Bit 2 of Status1
HandFBFaulted BOOL HandFB value health bad Bit 3 of Status1
PVSpanInv BOOL The span of PV invalid, PVEUMax < Bit 4 of Status1
PVEUMin.
SPProgInv BOOL SPProg < SPLLimit or > SPHLimit. Limit Bit 5 of Status1
value used for SP.
SPOperInv BOOL SPOper < SPLLimit or > SPHLimit. Limit Bit 6 of Status1
value used for SP.
SPCascadeInv BOOL SPCascade < SPLLimit or > SPHLimit. Limit Bit 7 of Status1
value used for SP.
SPLimitsInv BOOL Limits invalid: SPLLimit < PVEUMin, Bit 8 of Status1
SPHLimit > PVEUMax, or SPHLimit <
SPLLimit. If SPHLimit < SPLLimit, then
limit value using SPLLimit.
RatioLimitsInv BOOL Ratio high-low limits invalid, low limit < 0 Bit 9 of Status1
or high limit < low limit.
RatioProgInv BOOL RatioProg < RatioLLimit or > RatioHLimit. Bit 10 of Status1
Limit value used for Ratio.

RatioOperInv BOOL RatioOper < RatioLLimit or > RatioHLimit. Bit 11 of Status1

Limit value used for Ratio.
CVProgInv BOOL CVProg < 0 or > 100, or < CVLLimit or > Bit 12 of Status1
CVHLimit when CVManLimiting is TRUE.
Limit value used for CV.
CVOperInv BOOL CVOper < 0 or > 100, or < CVLLimit or > Bit 13 of Status1
CVHLimit when CVManLimiting is TRUE.
Limit value used for CV.
CVOverrideValueIn BOOL CVOverrideValue < 0 or > 100. Limit value Bit 14 of Status1
v used for CV.
CVTrackValueInv BOOL CVTrackValue < 0 or > 100. Limit value Bit 15 of Status1
used for CV.
CVEUSpanInv BOOL The span of CVEU invalid, CVEUMax equals Bit 16 of Status1
CVEUMin.
CVLimitsInv BOOL CVLLimit < 0, CVHLimit > 100, or CVHLimit Bit 17 of Status1
<= CVLLimit. If CVHLimit <= CVLLimit,
limit CV by using CVLLimit.
CVROCLimitInv BOOL CVROCLimit < 0, disables ROC limiting. Bit 18 of Status1
HandFBInv BOOL HandFB < 0 or > 100. Limit value used for Bit 19 of Status1
CV.
SampleTimeTooS BOOL Model DeadTime / DeltaT must be less than Bit 20 of Status1
mall or equal to 200.
FactorInv BOOL Factor < 0. Bit 21 of Status1
ModuleGainInv BOOL ModelGain is 1.#QNAN or -1.#IND (Not A Bit 22 of Status1
Number), or ±1.$ ( Infinity ∞)
ModelTCInv BOOL ModelTC < 0. Bit 23 of Status1

ModelDTInv BOOL ModelDT < 0. Bit 24 of Status1
RespTCInv BOOL RespTC < 0. Bit 25 of Status1
TimingModelInv BOOL TimingMode invalid. If the current mode is Bit 27 of Status2
not Override or Hand then set to Manual
mode.
RTSMissed BOOL Only used when in Real Time Sampling Bit 28 of Status2.
mode. Is TRUE when ABS(DeltaT -
RTSTime) > 1 millisecond.
RTSTimeInv BOOL RTSTime invalid. Bit 29 of Status2.
RTSTimeStampInv BOOL RTSTimeStamp invalid. If the current mode Bit 30 of Status2.
is not Override or Hand then set to Manual
mode.
DeltaTInv BOOL DeltaT invalid. If the current mode is not Bit 31 of Status2.
Override or Hand then set to Manual mode.

Description
The following illustration shows the IMC function block configuration.
At each execution, the IMC function block compares the actual PV measurement
with PV prediction. The result is called disturbance estimate, which is the effect of
unmeasured process disturbances combined with the modeling imprecision. The
disturbance estimate is used as a bias for the setpoint of the control variable. In the
ideal case of no disturbances and perfect modeling, the disturbance estimate (the
feedback signal) becomes equal to zero.
First Order Model M = K/(T*s+1)*exp(-D*s)

Inverse of Model Inv = (T*s+1)/K
First Order Filter F = 1/(e*s+1)
PV prediction = exp(-D*s)/(e*s+1) * (SP - Dist. estimate)
K... Model gain

T... Model time constant
D... Model deadtime
e... Response time constant
s... Laplace variable
The function block then calculates the CV value (CVHLimit, CVLLimit, and rate
of change limits are imposed) and the PV prediction.
The IMC function block can be used in place of a PID function block with the
advantage over the PID control variable when controlling processes with large
deadtimes.

For an integrating process type (such as level control and position control), an
internal nonintegrating model is used to approximate the integrating process. The
Factor parameter is used to convert the identified integrating-process model to a
nonintegrating internal model that is used for CV calculation. This is necessary to
provide for stable IMC execution.
No
Major/Minor Faults

faults.
Execution
Function Block

Tag.EnableIn is true EnableIn and .EnableOut bits are set to true.
Structured Text


Examples
Function Block
Structured Text
imcTag.PV := imcInput1;
imcTag.SPProg := imcInput2;
imcTag.CVProg := imcInput3;
IMC(imcTag);
imcOutput1 := imcTag.CVEU;
See also
Processing Faults on page 259
IMC Function Block Tuning on page 202

IMC Function Block Follow these steps to create a basic IMC configuration.
Configuration 1. Starting with the default configuration, configure the following parameters.
PVEUMax Maximum scaled value for PV.
PVEUMin Minimum scaled value for PV.
SPHLimit SP high limit value, scaled in PV units.
SPLLimit SP low limit value, scaled in PV units.
CVInitValue An initial value of the control variable output.
2. If you have the process model available, you can intuitively tune the IMC
control variable by entering the following four parameters.
Model Gain A nonzero number (negative for direct acting control variable. positive for
reverse acting control variable).
Model Time Constant Always a positive number.
Model Deadtime Always a positive number.
Response Time Constant Always a positive number - used to tune the response of the IMC control
variable. A smaller number gives a faster response.
At this point, you have completed the basic configuration. You did not
configure the built-in tuner. The control variable is ready to be put online in
either Auto or Manual mode. For tuning, use the default settings. Refer to
IMC Function Block Tuning.
3. If you do not know the process model, you need to identify the model and
tune the control variable by using the built-in tuner (modeler) for the
control variable to operate correctly in the Auto mode.
The control variable uses a first order lag with deadtime internal process
model and a first order filter (total of four tuning parameters) to calculate
the CV. The CV is calculated such that the process variable (PV) follows a
first order lag trajectory when approaching the setpoint value.
Speed of response depends on the value of the response time constant. The
smaller that the response time constant is, the faster the control variable
response will be. The response time constant should be set such that the PV
reaches the setpoint in a reasonable time based on the process dynamics.
The larger that the response time constant is, the slower the control variable
response will be, but the control variable also becomes more robust. Refer to
IMC Function Block Tuning.
In the Manual mode, the CV is set equal to the operator-entered or
program-generated CVOper or CVProg parameter.

For the Manual to Auto mode bumpless transfer and for safe operation of
the control variable, the CV rate of change limiter is implemented such that
the CV cannot change from its current state any faster than the rate of
change limit parameter specified.
4. Set the CVROCPosLimit and CVROCNegLimit to limit the CV rate of

change.
Rate limiting is not imposed when the control variable is in Manual mode
unless CVManLimiting is set.
See also
IMC Function Block Tuning on page 202
IMC Function Block Model A Model Initialization occurs:

Initialization • during First Scan of the block
• when the ModelInit request parameter is set
• when DeltaT changes
the appropriate ModelInit bit. The internal states of the function block will be
For example, if you modify the IMC function block Model Gain for CV - PV, set
the ModelInit parameter to TRUE to initialize the CV - PV internal model
parameters and for the new model gain to take effect.
IMC Function Block The function block is equipped with an internal tuner (modeler). The purpose of
the tuner is to identify the process model parameters and to use these parameters
Tuning
as internal model parameters (gain, time constant, and deadtime). The tuner also
calculates an optimal response-time constant.

Set the tuner by configuring the following parameters.
ProcessType Integral (level, position control) or nonintegrating (flow, pressure control)

ProcessGainSign Set to indicate a negative process gain (increase in output causes a decrease in PV); reset to
indicate a positive process gain (increase in output causes an increase in PV).
ResponseSpeed Slow, medium, or fast, based on control variable.
NoiseLevel An estimate of noise level on PV-low, medium, or high such that the tuner can distinguish
which PV change is a random noise and which is caused by the CV step change.
StepSize A nonzero positive or negative number defining the magnitude of CV step change in either
positive or negative direction, respectively.
PVTuneLimit (Only for integrating process type) in PV engineering units, defines how much of PV change
that is caused by CV change to tolerate before aborting the tuning test due to exceeding this
limit.
The tuner is started by setting the AtuneStart bit. You can stop the tuning by
setting the AtuneAbort bit. After the tuning is completed successfully, the
GainTuned, TCTuned, DTTuned, and RespTCTuned parameters are updated
with the tuning results, and the AtuneStatus code is set to indicate complete.
You can copy these parameters to the ModelGain, ModelTC, and ResponseTC,
respectively, by setting the AtuneUseModel bit. The function block will
automatically initialize the internal variables and continue normal operation. It
will automatically reset the AtuneUseModel bit.
See also
IMC Function Block Tuning Procedure on page 204
IMC Function Block Tuning Errors on page 203
IMC Function Block Tuning If an error occurs during the tuning procedure, the tuning is aborted, and the
AtuneStatus bit is set. You can abort the tuning by setting the AtuneAbort bit.
Errors
After an abort, the CV will assume its value before the step change, and the

IMC Function Block Tuning Follow these steps to configure the tuner.
Procedure 1. Put the CV into Manual mode.
2. Set the AtuneStart parameter.

the CV.

updated.
4. Set the AtuneUseModel parameter to copy the tuned parameters to the

model parameters.

Modular This information applies to the CompactLogix 5370, ControlLogix 5570,

Multivariable Compact GuardLogix 5370, GuardLogix 5570, Compact GuardLogix 5380,
Control (MMC) 5580 controllers.
The MMC instruction controls two process variables to their setpoints using up
to three control variables. The MMC instruction calculates the control variables
(CV1, CV2, and CV3) in the auto mode based on the PV1 -SP1, PV2 - SP2
deviation, internal model, and tuning.
Available Languages
Ladder Diagram

Function Block
Structured Text
MMC(MMC_tag);
Operands
Function Block
Operands: Type Format Description

MMC tag MODULAR MULTIVARIABLE CONTROL structure MMC Structure
Structured Text
Operands: Type Format Description

MMC tag MODULAR MULTIVARIABLE CONTROL structure MMC Structure

Structure
The following table describes the input parameters in the MMC function block.
Input Parameters Data Description Values

Type
EnableIn BOOL Enable Input. If False, the function block will not Default=TRUE
PV1 REAL Scaled process variable input 1. This value is Valid = any float
typically read from an analog input module. Default = 0.0
PV2 REAL Scaled process variable input 2. This value is Valid = any float
typically read from an analog input module. Default = 0.0
PV1Fault BOOL PV1 bad health indicator. If PV1 is read from an Default = FALSE
analog input, then PV1Fault will normally be
controlled by the analog input fault status. If
PVFault is TRUE, it indicates an error on the input
module, set bit in Status.FALSE = Good Health
PV2Fault BOOL PV2 bad health indicator. If PV2 is read from an Default = FALSE
analog input, then PV2Fault will normally be
controlled by the analog input fault status. If
PVFault is TRUE, it indicates an error on the input
module, set bit in Status.FALSE = Good Health
PV1EUMax REAL Maximum scaled value for PV1. The value of PV1 Valid = PV1EUMin <
and SP1 that corresponds to 100% span of the PV1EUMax <= maximum
Process Variable. If PV1EUMax ≤ PV1EUMin, set positive float
bit in Status. Default = 100.0
PV2EUMax REAL Maximum scaled value for PV2. The value of PV2 Valid = PV2EUMin <
and SP2 that corresponds to 100% span of the PV2EUMax <= maximum
Process Variable. If PV2EUMax ≤ PV2EUMin, set positive float
PV1UEMin REAL Minimum scaled value for PV1. The value of PV1 Valid = maximum negative
and SP1 that corresponds to 0% span of the float <= PV1EUMin <
Process Variable. If PV1EUMax ≤ PV1EUMin, set PV1EUMax
PV2UEMin REAL Minimum scaled value for PV2. The value of PV2 Valid = maximum negative
and SP2 that corresponds to 0% span of the float <= PV2EUMin <
Process Variable. If PV1EUMax ≤ PV1EUMin, set PV2EUMax
SP1Prog REAL SP1 Program value, scaled in PV units. SP1 is set Valid = SP1LLimit to
to this value when Program control. SP1HLimit
Default = 0.0
SP2Prog REAL SP2 Program value, scaled in PV units. SP2 is set Valid = SP2LLimit to
to this value when Program control. SP2HLimit
Default = 0.0
SP1Oper REAL SP1 Operator value, scaled in PV units. SP1 set to Valid = SP1LLimit to
this value when Operator control. SP1HLimit
If value of SP1Prog or SP1Oper < SP1LLimit or > Default = 0.0
SP1HLimit, set bit in Status and limit value used
for SP.


Type
SP2Oper REAL SP2 Operator value, scaled in PV units. SP2 set to Valid = SP2LLimit to
this value when Operator control. SP2HLimit
If value of SP2Prog or SP2Oper < SP2LLimit or > Default = 0.0
SP2HLimit, set bit in Status and limit value used
for SP.
SP1HLimit REAL SP1 high limit value, scaled in PV units. Valid = SP1LLimit to
• If SP1LLimit < PV1EUMin, or SP1HLimit > PV1EUMax
PV1EUMax, set bit in Status. Default = 100.0
• If SP1HLimit < SP1LLimit, set bit in Status and
limit SP by using the value of S1PLLimit.
SP2HLimit REAL SP2 high limit value, scaled in PV units. Valid = SP2LLimit to
• If SP2LLimit < PV2EUMin, or SP2HLimit > PV2EUMax
limit SP by using the value of SPLLimit.
SP1LLimit REAL SP1 low limit value, scaled in PV units. Valid = PV1EUMin to
• If SP1LLimit < PV1EUMin, or SP1HLimit > SP1HLimit
SP2LLimit REAL SP2 low limit value, scaled in PV units. Valid = PV2EUMin to
• If SP2LLimit < PV2EUMin, or SP2HLimit > SP2HLimit
CV1Fault BOOL Control variable 1 bad health indicator. If CV1EU Default = FALSE
controls an analog output, then CV1Fault will
normally come from the analog output's fault
status.
If CV1Fault is TRUE, it indicates an error on the
output module, set bit in Status.FALSE = Good
Health
status.
Health
status.
Health


Type
CV1InitReq BOOL CV1 initialization request. While TRUE, set CV1EU Default = FALSE
to the value of CV1InitValue. This signal will
normally be controlled by the In Hold status on
the analog output module controlled by CV1EU or
from the InitPrimary output of a secondary loop.
The instruction initialization is disabled when
CV1Faulted or CV1EUSpanInv are TRUE.
CV1InitValue REAL CV1EU initialization value, scaled in CV1EU units. Valid = any float
When CV1Initializing is TRUE set CV1EU equal to Default = 0.0
CV1InitValue and CV1 to the corresponding
percentage value. CV1InitValue will normally
come from the feedback of the analog output
controlled by CV1EU or from the setpoint of a
secondary loop.
secondary loop.
secondary loop.
CV1Prog REAL CV1 Program-Manual value. CV1 is set to this Valid = 0.0 through 100.0
mode.


Type
mode.
mode.
CV1Oper REAL CV1 Operator-Manual value. Valid = 0.0 through 100.0
• CV1 is set to this value when in Operator Default = 0.0
control and Manual mode. If not Operator-
Manual mode, set CV1Oper to the value of CV1
at the end of each function block execution.
• If value of CV1Prog or CV1Oper < 0 or > 100,
or < CV1LLimit or > CV1HLimit when
CVManLimiting is TRUE, set unique Status bit
and limit value used for CV1.
CV1OverrideValue REAL CV1 Override value. Valid = 0.0 through 100.0
• CV1 set to this value when in Override mode. Default = 0.0
output of the loop.
• If value of CV1OverrideValue < 0 or >100, set
unique Status bit and limit value used for CV1.
CV2OverrideValue REAL CV2 Override value. Valid = 0.0 through 100.0
• CV2 set to this value when in Override mode. Default = 0.0
output of the loop.
• If value of CV2OverrideValue < 0 or >100, set


Type
CV3OverrideValue REAL CV3 Override value. CV3 set to this value when in Valid = 0.0 through 100.0
Override mode. Default = 0.0
output of the loop.
If value of CV3OverrideValue < 0 or >100, set
CVManLimiting BOOL Limit CV(n), where (n) can be 1, 2, or 3, in Manual Default = FALSE
mode. If Manual mode and CVManLimiting is
TRUE, CV(n) will be limited by the CV(n)HLimit
and CV(n)LLimit values.
CV1EUMax REAL Maximum value for CV1EU. The value of CV1EU Valid = any float
that corresponds to 100% CV1. Default = 100.0
If CVEUMax = CVEUMin, set bit in Status.
CV1EUMin REAL Minimum value of CV1EU. The value of CV1EU Valid = any float
CV1HLimit REAL CV1 high limit value. This is used to set the Valid = CV1LLimit <
CV1HAlarm output. It is also used for limiting CV1 CV1HLimit ≤ 100.0
when in Auto mode or in Manual if Default = 100.0
CVManLimiting is TRUE.
• If CV1LLimit < 0, if CV1HLimit > 100, if
CV1HLimit < CV1LLimit, set bit in Status.
• If CV1HLimit < CV1LLimit, limit CV1 by using
the value of CV1LLimit.


Type
CV1LLimit REAL CV1 low limit value. This is used to set the Valid = 0.0 ≤ CV1LLimit <
CV1LAlarm output. It is also used for limiting CV1 CV1HLimit
when in Auto mode or in Manual mode if Default = 0.0
• If CV3HLimit < CV3LLimit, limit CV by using
CV1ROCPosLimit REAL CV1 rate of change limit, in percent per second. Valid = 0.0 to maximum
Rate of change limiting is only used when in Auto positive float
mode or in Manual mode if CVManLimiting is Default = 0.0
TRUE. A value of zero disables CV1 ROC limiting.
If value of CV1ROCLimit < 0, set bit in Status and
disable CV1 ROC limiting.


Type
CV1ROCNegLimit REAL CV1 rate of change limit, in percent per second. Valid = 0.0 to maximum
CV1HandFB REAL CV1 HandFeedback value. CV1 set to this value Valid = 0.0 through 100.0
when in Hand mode and CV1HandFBFault is Default = 0.0
FALSE (good health). This value would typically
come from the output of a field mounted
hand/auto station and would be used to generate
a bumpless transfer out of Hand mode.
If value of CV1HandFB < 0 or > 100, set unique
CV1HandFBFault BOOL CV1HandFB value bad health indicator. If the Default = FALSE
CV1HandFB value is read from an analog input,
then CV1HandFBFault will normally be controlled
by the status of the analog input channel.
If CV1HandFBFault is TRUE, it indicates an error on
FALSE = Good Health


Type
CV2HandFBFault BOOL CV2HandFB value bad health indicator. If the Default = FALSE
FALSE = Good Health
CV3HANDFBFault BOOL CV3HandFB value bad health indicator. If the Default = FALSE
FALSE = Good Health
CV1Target REAL Target value for control variable output 1. Valid = 0.0 through 100.0
Default = 0.0
Default = 0.0
Default = 0.0
CV1WindupHIn BOOL CV1Windup high request. When TRUE, CV1 will Default = FALSE
not be allowed to increase in value. This signal
will typically be the CV1WindupHOut output from
a secondary loop.
a secondary loop.
a secondary loop.
CV1WindupLIn BOOL CV1 Windup low request. When TRUE, CV1 will Default = FALSE
not be allowed to decrease in value. This signal
will typically be the CV1WindupLOut output from
a secondary loop.
a secondary loop.
a secondary loop.
GainEUSpan BOOL ModelGain units in EU or as % of span. Default = FALSE
FALSE = Gain in % of span


Type
CV1PV1ProcessGain BOOL Used only for Autotuning. Sign of the process gain Default = FALSE
Sign (Delta PV1/Delta CV1).
• Set to indicate a negative process gain
(increase in output causes a decrease in PV1).
• Reset to indicate a positive process gain
(increase in output causes an increase in P1V).
(increase in output causes an increase in PV1).
ProcessType DINT Process type selection for both PV1 and PV2 Default = 0
(1=Integrating, 0=non-integrating)
CV1PV1ModelGain REAL The internal model gain parameter for CV1 - PV1. Valid = maximum negative
Enter a positive or negative gain depending on float −> maximum positive
If CV1PV1ModelGain = INF or NAN, set bit in Default = 0.0
Status.
Status.


Type
Status.
Status.
Status.
Status.
CV1PV1ModelTC REAL The internal model time constant for CV1 - PV1 in Valid = 0.0 to maximum
Default = 0.0
Default = 0.0
Default = 0.0
Default = 0.0
Default = 0.0
Default = 0.0
CV1PV1ModelDT REAL The internal model deadtime for CV1 - PV1 in Valid = 0.0 to maximum
Default = 0.0
Default = 0.0
Default = 0.0


Type
Default = 0.0
Default = 0.0
Default = 0.0
CV1PV1RespTC REAL The tuning parameter that determines the speed Valid = 0.0 to maximum
of the control variable action for CV1 - PV1 in positive float
PV1Act1stCV DINT The first CV to act to compensate for PV1-SP1 Valid = 1-3
deviation. Default = 1
1=CV1, 2=CV2, 3=CV3
PV1Act2ndCV DINT The second CV to act to compensate for PV1-SP1 Valid = 1-3
1=CV1, 2=CV2, 3=CV3
PV1Act3rdCV DINT The third CV to act to compensate for PV1-SP1 Valid = 1-3
1=CV1, 2=CV2, 3=CV3
PV2Act1stCV DINT The first CV to act to compensate for PV2-SP2 Valid = 1-3
1=CV1, 2=CV2, 3=CV3
PV2Act2ndCV DINT The second CV to act to compensate for PV2-SP2 Valid = 1-3
1=CV1, 2=CV2, 3=CV3
PV2Act3rdCV DINT The third CV to act to compensate for PV2-SP2 Valid = 1-3
1=CV1, 2=CV2, 3=CV3
TargetCV DINT The CV to be driven to its target value. Valid = 1-3
1=CV1, 2=CV2, 3=CV3 Default = 3


Type
TargetRespTC REAL Determines the speed with which the control Valid = 0.0 to maximum
variables approach the target values. positive float
Default = 0.0
PVTracking BOOL SP track PV request. Default = FALSE
Set TRUE to enable SP to track PV. Ignored when
in Auto modes. SP will only track PV when all
three outputs are in manual. As soon as any
output returns to Auto, PVTracking stops.
ManualAfterInit BOOL Manual mode after initialization request. Default = FALSE
• When TRUE, the appropriate CV(n), where (n)
can be 1, 2, or 3, will be placed in Manual
mode when CV(n)Initializing is set TRUE
unless the current mode is Override or Hand.
• When ManualAfterInit is FALSE, the CV(n)
mode will not be changed.
• Set TRUE by the user program to request
Program control. Ignored if ProgOperReq is
TRUE. Holding this TRUE and ProgOperReq
FALSE can be used to lock the function block
into program control.
• When ProgValueReset is TRUE, the function
ProgOperReq BOOL Program Operator Request. Default = FALSE
Operator control. Holding this TRUE can be
used to lock the function block into operator
control.
• Set TRUE by the user program to request Auto
mode.
mode.
mode.


Type
ProgCV1ManualReq BOOL Program-Manual mode request for CV1. Default = FALSE
Manual mode.
Manual mode.
Manual mode.
ProgCV1OverrideRe BOOL Program-Override mode request for CV1. Default = FALSE
q • Set TRUE by the user program to request
Override mode.
Override mode.
Override mode.
• Set TRUE by the user program to request Hand
mode. This value will usually be read as a
digital input from a hand/auto station.


Type
OperProgReq BOOL Operator Program Request. Default = FALSE
• Set TRUE by the operator interface to request
Program control. The function block resets this
parameter to FALSE.
OperOperReq BOOL Operator Operator Request. Default = FALSE
• Set TRUE by the operator interface to request
Operator control. The function block resets this
parameter to FALSE.
Set TRUE by the operator interface to request
Auto mode. The function block resets this
parameter to FALSE.
parameter to FALSE.
parameter to FALSE.
OperCV1ManualReq BOOL Operator-Manual mode request for CV1. Default = FALSE
Manual mode. The function block sets this
parameter to FALSE.
parameter to FALSE.
parameter to FALSE.
ProgValueReset BOOL Reset Program control values. Default = FALSE
When TRUE, the Prog_xxx_Req inputs are reset
to FALSE. When TRUE and Program control, set
SP(x)Prog = SP(x) and CV(y)Prog = CV(y), where
x = 1,2 and y = 1,2,3
TimingMode DINT Selects Time Base Execution mode. Valid = 0 through 2
0 = Periodic mode
1 = Oversample mode
OverSampleDT REAL Execution time for Oversample mode. Valid = 0 to max. TON_Timer
elapsed time (4194.303
seconds)
Default = 0


Type
RTSTime DINT Module update period for Real Time Sampling Valid = 0 through 32,767
mode. 1 count = 1 ms
RTSTimeStamp DINT Module time stamp value for Real Time Sampling Valid = 0 through 32,767
mode. (wraps from 32,767…0)
1 count = 1 ms
PV1TuneLimit REAL PV1 tuning limit scaled in the PV1 units. When Valid = any float
Autotune is running and predicted PV1 exceeds Default=0
this limit, the tuning will be aborted.
PV2TuneLimit REAL PV2 tuning limit scaled in the PV2 units. When Valid = any float
Autotune is running and predicted PV2 exceeds Default=0
this limit, the tuning will be aborted.
PV1AtuneTimeLimit REAL Maximum time in minutes for PV1 autotune to Valid range: any float > 0.
complete following the CV1 step change. When Default = 60 minutes
PV1 autotune exceeds this time, tuning will be
aborted.
PV2AtuneTimeLimit REAL Maximum time in minutes for PV2 autotune to Valid range: any float > 0.
complete following the CV2 step change. When Default = 60 minutes
PV2 autotune exceeds this time, tuning will be
aborted.
PV1NoiseLevel DINT An estimate of the noise level expected on the Range: 0 through 2
PV1 to compensate for it during tuning. Default=1
The selections are: 0=low, 1=medium, 2=high
PV2NoiseLevel DINT An estimate of the noise level expected on the Range: 0 through 2
PV2 to compensate for it during tuning. Default=1
The selections are: 0=low, 1=medium, 2=high
CV1StepSize REAL CV1 step size in percent for the tuning step test. Range: -100% … 100%
Step size is directly added to CV1 subject to Default=10%
high/low limiting.
high/low limiting.
high/low limiting.
CV1PV1ResponseSp DINT Desired speed of closed loop response for CV1 - Range: 0…2
eed PV1. Default=1
• Slow response: ResponseSpeed=0
• Medium response: ResponseSpeed=1
• Fast response: ResponseSpeed=2
If ResponseSpeed is less than 0, Slow response is
used. If ResponseSpeed is greater than 2, Fast
response is used.


Type
CV2PV1ResponseSp DINT Desired speed of closed loop response for CV2 Range: 0…2
eed PV1. Default=1
response is used.
CV3PV1ResponseSp DINT Desired speed of closed loop response for CV3 Range: 0 through 2
eed PV1. Default=1
response is used.
eed PV2. Default=1
response is used.
eed PV2. Default=1
response is used.
eed PV2. Default=1
response is used.
CV1PV1ModelInit BOOL Internal model initialization switch for CV1 - PV1. Default = FALSE
Refer to Function Block Attributes.


Type
PV1Factor REAL Non-integrating model approximation factor for Default = 100
PV1. Only used for integrating process types.
PV2Factor Non-integrating model approximation factor for Default = 100
PV2. Only used for integrating process types.
AtuneCV1Start BOOL Start Autotune request for CV1. Set True to Default = FALSE
initiate auto tuning of the CV1 output for both
PV1 and PV2. Ignored when CV1 is not in Manual
mode. The function block resets the input to
FALSE.
FALSE.
FALSE.
AtuneCV1PV1UseM BOOL Use Autotune model request for CV1 - PV1. Set Default = FALSE
odel True to replace the current model parameters
with the calculated Autotune model parameters.
The function block resets the input parameter to
FALSE.
FALSE.
FALSE.
FALSE.
FALSE.


Type
FALSE.
AtuneCV1Abort BOOL Abort Autotune request for CV1. Set True to abort Default = FALSE
the auto tuning of CV1 output for both PV1 and
PV2. The function block resets input parameter to
FALSE.
the auto tuning of CV2 output or both PV1 and
FALSE.
the auto tuning of CV3 output or both PV1 and
FALSE.
The following table describes the output parameters in the MMC function block.
Output Data Description Values

Parameters Type
EnableOut BOOL Indicates if instruction is enabled. Cleared to false if
any one of CV1EU, CV2EU or CV3EU overflows.
CV1EU REAL Scaled control variable output for CV1. Scaled by
using CV1EUMax and CV1EUMin, where CV1EUMax
corresponds to 100% and CV1EUMin corresponds to
0%. This output is typically used to control an
analog output module or a secondary loop.
CV1EU = (CV1 * CV1EUSpan / 100) + CV1EUMin
CV1EU span calculation: CV1EUSpan = (CV1EUMax
– CV1EUMin)
– CV2EUMin)
− CV3EUMin)


Parameters Type
CV1 REAL Control variable output for CV1. This value will
always be expressed as 0…100%. CV1 is limited
by CV1HLimit and CV1LLimit when in Auto mode or
in Manual mode if CVManLimiting is TRUE;
otherwise limited by 0 and 100%.
CV1Initializing BOOL Initialization mode indicator for CV1. Set TRUE
when CV1InitReq, function blockFirstScan or
OLCFirstRun, are TRUE, or on a TRUE to FALSE
transition of CV1Fault (bad to good). CV1Initializing
is set FALSE after the function block has been
initialized and CV1InitReq is no longer TRUE.
CV2nitializing BOOL Initialization mode indicator for CV2. Set TRUE
CV3nitializing BOOL Initialization mode indicator for CV3. Set TRUE
CV1HAlarm BOOL CV1 high alarm indicator. TRUE when the
calculated value for CV1 > 100 or CV1HLimit.
CV1LAlarm BOOL CV1 low alarm indicator. TRUE when the calculated
value for CV1 < 0 or CV1LLimit.
CV1ROCPosAlarm BOOL CV1 rate of change alarm indicator. TRUE when the
calculated rate of change for CV1 exceeds
CV1ROCPosLimit.
CV2ROCPosLimit.


Parameters Type
CV3ROCPosLimit.
CV1ROCNegAlarm BOOL CV1 rate of change alarm indicator. TRUE when the
CV1ROCNegLimit.
CV2ROCNegLimit.
CV3ROCNegLimit.
SP1 REAL Current setpoint 1 value. The value of SP1 is used to
control CV when in the Auto or the PV1 Tracking
mode, scaled in PV1 units.
SP2 REAL Current setpoint 2 value. The value of SP2 is used to
control CV when in the Auto or the PV2 Tracking
mode, scaled in PV2 units.
SP1Percent REAL The value of SP1 expressed in percent of span of
PV1.
SP1Percent = ((SP1 − PV1EUMin ) * 100) /
PV1Span
where PV1Span = PV1EUMax – PV1EUMin
SP2Percent The value of SP2 expressed in percent of span of
PV2.
SP2Percent = ((SP2 − PV2EUMin ) * 100) /
PV2Span
where PV2Span = PV2EUMax – PV1EUMin
SP1HAlarm BOOL SP1 high alarm indicator. TRUE when the SP1 >=
SP1HLimit.
SP2HAlarm BOOL SP2 high alarm indicator. TRUE when the SP2 >=
SP2HLimit.
SP1LAlarm BOOL SP1 low alarm indicator. TRUE when the SP1 <=
SP1LLimit.
SP2LAlarm BOOL SP2 low alarm indicator. TRUE when the SP2 <=
SP2LLimit.
PV1Percent REAL PV1 expressed in percent of span.
PV1Percent = (( PV1 − PV1EUMin ) * 100) /
PV1Span
PV1 Span calculation: PV1Span =
( PV1EUMax - PV1EUMin )
PV2Percent REAL PV2 expressed in percent of span.
PV2Percent = (( PV2 − PV2EUMin ) * 100) /
PV2Span
PV2 Span calculation: PV2Span =
( PV2EUMax − PV2EUMin )
E1 REAL Process1 error. Difference between SP1 and PV1,
scaled in PV1 units.


Parameters Type
E2 REAL Process2 error. Difference between SP2 and PV2,
scaled in PV2 units.
E1Percent REAL The error expressed as a percent of span for process
1.
E2Percent REAL The error expressed as a percent of span for process
2.
CV1WindupHOut is set to true when
• SP1HAlarm or SP2HAlarm is true or
• ModelGain is positive and CV1HAlarm is true or
• ModelGain is negative and CV1LAlarm is true.
This signal will typically be used by the WindupHIn
input to limit the windup of the CV1 output on a
primary loop.
primary loop.
primary loop.
CV1WindupLOut is set to true when
• SP1LAlarm or SP2LAlarm is true or
• ModelGain is positive and CV1LAlarm is true or
• ModelGain is negative and CV1HAlarm is true.
This signal will typically be used by the WindupLIn
primary loop.
primary loop.


Parameters Type
primary loop.
ProgOper BOOL Program/Operator control indicator. TRUE when in
Program control. FALSE when in Operator control.
CV1Auto BOOL Auto mode indicator for CV1. TRUE when CV1 in the
Auto mode.
Auto mode.
Auto mode.
CV1Manual BOOL Manual mode indicator for CV1. TRUE when CV1 in
the Manual mode.
the Manual mode.
the Manual mode.
CV1Override BOOL Override mode indicator for CV1. TRUE when CV1 in
the Override mode.
the Override mode.
the Override mode.
CV1Hand BOOL Hand mode indicator for CV1. TRUE when CV1 in
the Hand mode.
the Hand mode.
the Hand mode.
DeltaT REAL Elapsed time between updates in seconds.
CV1PV1GainTuned REAL The calculated value of the internal model gain for
CV1 - PV1 after tuning is completed.
CV1PV2GainTuned REA: The calculated value of the internal model gain for


Parameters Type
CV3PV2GainTuned REA: The calculated value of the internal model gain for
CV1PV1TCTuned REAL The calculated value of the internal model time
constant for CV1 - PV1 after tuning is completed.
CV1PV1DTTuned REAL The calculated value of the internal model
deadtime for CV1 - PV1 after tuning is completed.
CV1PV1RespTCTun REAL The calculated value of the control variable time
edS constant in slow response speed for CV1 - PV1 after
edM constant in medium response speed for CV1 - PV1


Parameters Type
edF constant in fast response speed for CV1 - PV1 after
AtuneCV1PV1On BOOL Set True when auto tuning for CV1 - PV1 has been
initiated.
initiated.
initiated.
AtuneCV1PV1Don BOOL Set True when auto tuning for CV1 - PV1 has
e completed successfully.
AtuneCV1PV1Abor BOOL Set True when auto tuning for CV1 - PV1 has been
ted aborted by user or due to errors that occurred
during the auto tuning operation.


Parameters Type
AtuneCV2PV1Abor BOOL Set True when auto tuning for CV2 - PV1 has been
AtuneCV3PV1Abor BOOL Set True when auto tuning for CV3 PV1 has been
AtuneCV1PV2On BOOL Set True with auto tuning for CV1 - PV2 has be
initiated.
initiated.
initiated.
ATuneCV1PV2Abor BOOL Set True when auto tuning for CV1-PV2 has been
AtuneCV1PV1Stat DINT Bit mapped status for CV1 - PV1. A value of 0
us indicates that no faults have occurred.
AtuneCV3PV1Stat DINT Bit mapped status for CV3 - PV1.
us A value of 0 indicates that no faults have occurred.
AtuneCV1PV1Fault BOOL CV1 - PV1 Autotune has generated any of the Bit 0 of AtuneCV1PV1Status
following faults.
following faults.
following faults.


Parameters Type
AtuneCV1PV1OutO BOOL Either PV1 or the deadtime-step ahead prediction Bit 1 of AtuneCV1PV1Status
fLimit of PV1 exceeds PV1TuneLimit during CV1 - PV1
Autotuning. When True, CV1 - PV1 Autotuning is
aborted.
aborted.
aborted.
AtuneCV1PV1Mod BOOL The MMC mode was not Manual at start of Bit 2 of AtuneCV1PV1Status
eInv Autotuning or the MMC mode was changed from
Manual during CV1 - PV1 Autotuning. When True,
CV1 - PV1 Autotuning is not started or is aborted.
AtuneCV1PV1Win BOOL CV1WindupHIn or CV1WindupLIn is True at start of Bit 3 of AtuneCV1PV1Status
dupFault CV1 - PV1 Autotuning or during CV1 - PV1
not started or is aborted.
AtuneCV1PV1Step BOOL CV1StepSizeUsed = 0 at start of CV1 - PV1 Bit 4 of AtuneCV1PV1Status
Size0 Autotuning. When True, CV1 - PV1 Autotuning is
not started.
not started.
not started.
AtuneCV1PV1Limi BOOL CV1LimitsInv and CVManLimiting are True at start Bit 5 of AtuneCV1PV1Status
tsFault of CV1 - PV1 Autotuning or during CV1 - PV1


Parameters Type
Autotuning. When True, CV2 _PV1 Autotuning is
AtuneCV1PV1InitF BOOL CV1Initializing is True at start of CV1 - PV1 Bit 6 of AtuneCV1PV1Status
ault Autotuning or during CV1 - PV1 Autotuning. When
True, CV1 - PV1 Autotuning is not started or is
aborted.
aborted.
aborted.
AtuneCV1PV1EUSp BOOL CV1EUSpan or PV1EUSpan changes during CV1 - Bit 7 of AtuneCV1PV1Status
anChanged PV1 Autotuning. When True, CV1 - PV1 Autotuning
is aborted.
is aborted.
is aborted.
AtuneCV1PV1Chan BOOL CV1Oper is changed when in Operator control or Bit 8 of AtuneCV1PV1Status
ged CV1Prog is changed when in Program control or
CV1 becomes high/low or ROC limited during CV1 -
PV1 Autotuning. When True, CV1 - PV1 Autotuning
is aborted.
is aborted.
is aborted.
AtuneCV1PV1Time BOOL Elapsed time is greater then PV1AtuneTimeLimit Bit 9 of AtuneCV1PV1Status
out since step test is started. When True, CV1 - PV1


Parameters Type
AtuneCV1PV1NotS BOOL The PV1 is changed too much to Autotune for CV1 - Bit 10 of AtuneCV1PV1Status
ettled PV1. When True, CV1 - PV1 Autotuning is aborted.
Wait until PV1 is more stable before autotuning
CV1 - PV1.
CV2 - PV1.
CV3 - PV1.
following faults.
AtuneCV2PV2Faul BOOL CV2 - PV2 Autotune has generated any of the Bit 0 of AtuneCV2PV2Status
following faults.
following faults.
aborted.
aborted.
aborted.
Manual during CV1-PV2 Autotuning. When True,
CV1-PV2 Autotuning is not started or is aborted.


Parameters Type
not started.
not started.
AtuneCV3PV2Step BOOL CV3StepSizeUsed = 0 at start of CV3 - PV2 Bit 4 of AtuneC3PV2Status
not started.
aborted.
aborted.
aborted.
is aborted.
is aborted.
is aborted.


Parameters Type
is aborted.
is aborted.
is aborted.
AtuneCV1PV2NotS BOOL The PV2 is changed too much to Autotune for CV1- Bit 10 of AtuneCV1PV2Status
ettled PV2. When True, CV1-PV2 Autotuning is aborted.
CV1-PV2.
CV2-PV2.
CV3-PV2.
Status1 DINT Bit mapped status of the function block. A value of
0 indicates that no faults have occurred. Any
parameter that could be configured with an invalid
value must have a status parameter bit to indicate
its invalid status.
Status2 DINT Additional bit mapped status for the function block.
A value of 0 indicates that no faults have occurred.
Any parameter that could be configured with an
invalid value must have a status parameter bit to
indicate its invalid status.
Status3CV1 DINT Additional bit mapped CV1 status for the function
block. A value of 0 indicates that no faults have
occurred.
occurred.


Parameters Type
occurred.
InstructFault BOOL The function block has generated a fault. Indicates Bit 0 of Status1
state of bits in Status1, Status2, and Status3CV(n),
where (n) can be 1, 2, or 3.
PV1Faulted BOOL Process variable PV1 health bad. Bit 1 of Status1
PV2Faulted BOOL Process variable PV2 health bad. Bit 2 of Status1
PV1SpanInv BOOL The span of PV1 inValid, PV1EUMax < PV1EUMin. Bit 3 of Status1
PV2SpanInv BOOL The span of PV2 inValid, PV2EUMax < PV2EUMin. Bit 4 of Status1
SP1ProgInv BOOL SP1Prog < SP1LLimit or > SP1HLimit. Limit value Bit 5 of Status1
used for SP1.
SP2ProgInv BOOL SP2Prog < SP2LLimit or > SP2HLimit. Limit value Bit 6 of Status1
used for SP2.
SP1OperInv BOOL SP1Oper < SP1LLimit or > SP1HLimit. Limit value Bit 7 of Status1
used for SP1.
SP2OperInv BOOL SP2Oper < SP2LLimit or > SP2HLimit. Limit value Bit 8 of Status1
used for SP2.
SP1LimitsInv BOOL Limits inValid: SP1LLimit < PV1EUMin, SP1HLimit Bit 9 of Status1
> PV1EUMax, or SP1HLimit < SP1LLimit. If
SP1HLimit < SP1LLimit, then limit value by using
SP1LLimit.
SP2LimitsInv BOOL Limits inValid: SP2LLimit < PV2EUMin, SP2HLimit Bit 10 of Status1
> PV2EUMax, or SP2HLimit < SP2LLimit. If
SP2HLimit < SP2LLimit, then limit value by using
SP2LLimit.
SampleTimeTooS BOOL Model DeadTime / DeltaT must be less than or Bit 11 of Status1
mall equal to 200.
PV1FactorInv BOOL Entered value for Factor1 < 0. Bit 12 of Status1
PV2FactorInv BOOL Entered value for Factor2 < 0. Bit 13 of Status1
TimingModeInv BOOL Entered TimingMode inValid. If the current mode is Bit 27 of Status2
not Override or Hand then set to Manual mode.
RTSMissed BOOL Only used when in Real Time Sampling mode. Is Bit 28 of Status2.
TRUE when ABS(DeltaT – RTSTime) > 1
millisecond.
RTSTimeInv BOOL Entered RTSTime inValid. Bit 29 of Status2.
RTSTimeStampInv BOOL RTSTimeStamp inValid. If the current mode is not Bit 30 of Status2.
Override or Hand, then set to Manual mode.
DeltaTInv BOOL DeltaT inValid. If the current mode is not Override Bit 31 of Status2.
or Hand then set to Manual mode.
CV1Faulted BOOL Control variable CV1 health bad. Bit 0 of Status3CV1
CV1HandFBFaulte BOOL CV1 HandFB value health bad. Bit 1 of Status3CV1
d
d


Parameters Type
d
CV1ProgInv BOOL CV1Prog < 0 or > 100, or < CV1LLimit or > Bit 2 of Status3CV1
CV1HLimit when CVManLimiting is TRUE. Limit
value used for CV1.
value used for CV2.
value used for CV3.
CV1OperInv BOOL CV1Oper < 0 or > 100, or < CV1LLimit or > Bit 3 of Status3CV1
value used for CV1.
value used for CV2.
value used for CV3.
CV1OverrideValueI BOOL CV1OverrideValue < 0 or > 100. Limit value used Bit 4 of Status3CV1
nv for CV1.
nv for CV2.
nv for CV3.
CV1EUSpanInv BOOL The span of CV1EU invalid, CV1EUMax equals Bit 5 of Status3CV1
CV1EUMin.
CV2EUMin.
CV3EUMin.
CV1LimitsInv BOOL CV1LLimit < 0, CV1HLimit > 100, or CV1HLimit <= Bit 6 of Status3CV1
CV1LLimit. If CV1HLimit <= CV1LLimit, limit CV1
by using CV1LLimit.
by using CV2LLimit.
by using CV3LLimit.
CV1ROCLimitInv BOOL Entered value for CV1ROCLimit < 0, disables CV1 Bit 7 of Status3CV1
ROC limiting.
ROC limiting.
ROC limiting.
CV1HandFBInv BOOL CV1 HandFB < 0 or > 100. Limit value used for CV1. Bit 8 of Status3CV1


Parameters Type
CV1PV1ModelGain BOOL CV1PV1ModelGain is 1.#QNAN or -1.#IND. (Not A Bit 9 of Status3CV1
Inv Number), or ± 1.$ ( Infinity ∞ ).
CV2PV1ModelGain BOOL Entered value for CV2 - PV1 Model Gain is 1.#QNAN Bit 9 of Status3CV2
Inv or -1.#IND. (Not A Number), or ± 1.$ ( Infinity ∞ ).
Inv or -1.#IND. (Not A Number), or ± 1.$
(Infinity ∞).
CV1PV2ModelGain BOOL CV1PV2ModelGain is 1.#QNAN or -1.#IND. (Not A Bit 10 of Status3CV1
Inv Number), or ± 1.$ ( Infinity ∞ ).
Inv or -1.#IND. (Not A Number), or ± 1.$ ( Infinity ∞ ).
Inv or -1.#IND. (Not A Number), or ± 1.$
(Infinity ∞).
CV1PV1ModelTCIn BOOL Entered value for CV1 - PV1 Model Time Constant < Bit 11 of Status3CV1
v 0.
v 0.
v 0.
v 0.
v 0.
v 0.
CV1PV1ModelDTIn BOOL Entered value for CV1-PV1 Model Deadtime < 0. Bit 13 of Status3CV1
v
v
CV3PV1ModelDTIn BOOL Entered value for CV3 - PV1 Model Deadtime < 0. Bit 13 of Status3CV3
v
v
v
CV3PV2ModelDTIn BOOL Entered value for CV3 - PV2 Model Deadtime < 0. Bit 14 of Status3CV3
v
CV1PV1RespTCInv BOOL Entered value for CV1-PV1 Response Time Constant Bit 15 of Status3CV1
< 0.
< 0.
CV3PV1RespTCInv BOOL Entered value for CV3 - PV1 Response Time Bit 15 of Status3CV3
Constant < 0.
< 0.


Parameters Type
< 0.
CV3PV2RespTCInv BOOL Entered value for CV3 - PV2 Response Time Bit 16 of Status3CV3
Constant < 0.
CV1TargetInv BOOL Entered value for CV1 Target < 0. or > 100. Bit 17 of Status3CV1
Description
The MMC is a flexible model-based algorithm that can be used in two basic
configuration modes:
• Three control variables used to control two interacting process variables

• Two control variables used to control two interacting process variables
Following is an MMC function block splitter example configuration.

Item Description
M11 Internal model CV1 - PV1
T Target response
C11, C22 Model-predictive function blocks (IMC) currently controlling PV1 and
PV2 to SP1 and SP2, respectively
Y11, Y21, Y31, Y12, Y22, Model outputs of M11, M21, M31, M12, M22, M32
Y32
Y1 PV1 prediction
Y2 PV2 prediction
CV1 (Reflux ratio) Controls PV1 (Top composition) in Coordinated Control (CC1).
CV2 (Stream Flow) Controls PV2 (Bottom composition) in Coordinated Control (CC2)
CV3 Drives the Target value through a target response.
No
Major/Minor Faults
None specific to this instruction. See Index Through Arrays for Array-Indexing
Faults
Execution
Note that iin Structured Text, EnableIn is always true during a normal scan.
Therefore, if the instruction is in the control path activated by the logic, it will
execute.
Refer to Refer to Function Block Attributes.for more details including definitions

and general behavior for all Function Block instructions.

All conditions below the shaded area can only occur during Normal Scan mode.

Prescan .EnableIn and .EnableOut bits are cleared to false.
Postscan .EnableIn and .EnableOut bits are cleared to false.
EnableIn is false .EnableIn and .EnableOut bits are cleared to false.
Instruction first run No state specific action taken.
Primary algorithm not executed, however will validate input
parameters.
Instruction first scan No state specific action taken.
Primary algorithm not executed, however will validate input
parameters.
EnableIn is true .EnableIn and .EnableOut bits are set to true.
The instruction's main algorithm will be executed and outputs will
be updated.
Native Implementation
Platform Intrinsics/Main Function

ABRisc / ARM ABRisc assembly code
void FB_ModularMultivariableControl(UINT32 *pulArg0Ptr)
RCA MMC(instance)
void FB_ModularMultivariableControl(UINT32 *pulArg0Ptr)
SoftLogix (X86) void rts$MMC(UINT32 *pFbdBlock)

Example
Function Block
Structured Text
mmcTag.PV1 := mmcInput1;
mmcTag.PV2 := mmcInput2;
mmcTag.SP1Prog := mmcInput3;
mmcTag.SP2Prog := mmcInput4;
mmcTag.CV1Prog := mmcInput5;
MMC(mmcTag);
mmcOutput1 := mmcTag.CV1EU;

See also
Convert the PV and SP Values to Percent on page 257
Instruction First Scan on page 254
Index Through Arrays on page 551
MMC Function Block Starting with the default configuration, configure the following parameters.
Configuration Parameter Description
PV1EUMax Maximum scaled value for PV1.
PV1EUMin Minimum scaled value for PV1.
PV2EUMax Maximum scaled value for PV2.
PV2EUMin Minimum scaled value for PV2.
SP1HLimit SP1 high limit value, scaled in PV units.
SP1LLimit SP1 low limit value, scaled in PV units.
SP2HLimit SP2 high limit value, scaled in PV units.
SP2LLimit SP2 low limit value, scaled in PV units.
If you have the process models available, you can intuitively tune the MMC
function block by entering the following parameters. At this point, you have
completed the basic configuration. You did not configure the built-in tuner. The
function block variables are ready to be put on-line in either auto or Manual mode.
For tuning, the default settings will be used.

If you do not know the process models, you need to identify the models and tune
the function block by using the built-in tuner (modeler) for the function block to
operate correctly in the Auto mode.
ModelGains Nonzero numbers (negative for direct acting control variable, positive
for reverse acting control variable)
ModelTimeConstants Always positive numbers
ModelDeadtimes Always positive numbers
RespTimeConstants Always positive numbers
Active 1st, 2nd and 3rd CV for PV1 and PV2 Specify the order in which CV's will be used to compensate for PV - SP
error.
TargetCV Specify which CV will be driven to its target value.
CVTargetValues Specify to which values should the control variable drive the
individual CV's if selected as the TargetCV.
TargetRespTC Specify the speed of CV's to approach the target values.
For integrating process types (such as level control and position control), internal
nonintegrating models are used to approximate the integrating process. The
Factor parameters are used to convert the identified integrating process models to
nonintegrating internal models used for CV calculation. This is necessary to
provide for stable MMC execution. The MMC function block can handle any
combinations of PV1 and PV2 that are integrating or nonintegrating process
types.
The function block uses first order lag with deadtime internal process models and
first order filters (total of up to 24 tuning parameters-6 models, 4 parameters each)
to calculate the CV's. Each CV is calculated such that each process variable (PV)
follows a first order lag trajectory when approaching the setpoint value.
Speed of response depends on the value of the response time constants. The
smaller the response time constants, the faster the control variable response will be.
The response time constants should be set such that the PV's reach the setpoints in
reasonable time based on the process dynamics. The larger that the response time
constants, the slower the control variable response will be, but the control variable
also becomes more robust.
In the Manual mode, the control variables (CV) are set equal to the operator-
entered Manual CV parameters. For the Manual to Auto mode bumpless transfer
and for safe operation of the control variable, the CV rate of change limiters are
implemented such that CV's cannot move from current states by more than
specified CV units at each scan.
Set the CVROCPosLimit and CVROCNegLimit to limit the CV rate of change.

Rate limiting is not imposed when control variable is in Manual mode unless
CVManLimiting is set.

MMC Function Block Model A model initialization occurs:

Initialization • During First Scan of the block
• When the ModelInit request parameter is set
• When DeltaT changes
the appropriate ModelInit bit. The internal states of the function block will be
For example, if you modify the model for CV2 - PV1 model, set the
CV2PV1ModelInit parameter to TRUE to initialize the CV2 - PV1 internal
model parameters and for the new model to take effect.
MMC Function Block Tuning The MMC function block is equipped with an internal tuner (modeler). The
purpose of the tuner is to identify the process model parameters and to use these
parameters as internal model parameters (gain, time constant, and deadtime). The
tuner also calculates an optimal response time constant.
Set the tuner by configuring the following parameters for each CV - PV process.
ProcessType Integrating (level, position control) or nonintegrating (flow, pressure control)

ProcessGainSign Set to indicate a negative process gain (increase in output causes a decrease in PV); reset
to indicate a positive process gain (increase in output causes an increase in PV).
ResponseSpeed Slow, medium, or fast, based on control objective
NoiseLevel An estimate of noise level on PV-low, medium, or high-such that the tuner can
distinguish which PV change is a random noise and which is caused by the CV step change
StepSize A nonzero positive or negative number defining the magnitude of CV step change in
either positive or negative direction, respectively
PVTuneLimit (only for integrating process type) in PV engineering units, defines how much of PV
change that is caused by CV change to tolerate before aborting the tuning test due to
exceeding this limit
The tuner is started by setting the AtuneStart bit (AtuneCV1Start, for example).
You can stop the tuning by setting the appropriate AtuneAbort bit.
After the tuning is completed successfully, the appropriate GainTuned,

TCTuned, DTTuned, and RespTCTuned parameters are updated with the
tuning results, and the AtuneStatus code is set to indicate complete.
You can copy these parameters to the ModelGain, ModelTC, ModelDT, and
RespTC, respectively, by setting the AtuneUseModel bit. The MMC function
block automatically initializes the internal variables and continue normal
operation. It automatically resets the AtuneUseModel bit.

See also
MMC Function Block Tuning Procedure on page 247
MMC Function Block Tuning Errors on page 246
Use an MMC Function The following example describes using an MMC function block to control a
splitter. Refer to the MMC Function Block Splitter Example Configuration in
Block for Splitter Control
Module Multivariable Control ( MMC).
Item Description
PV1 Top composition (more important)
PV2 Bottom composition (less important)
Active 1st CV for PV1 CV1 (reflux ratio)
Active 2nd CV for PV1 CV3 (pressure setpoint)
Active 3rd CV for PV1 CV2 (steam (flow)
Active 1st CV for PV2 CV2
Active 2nd CV for PV2 CV3
Active 3rd CV for PV2 CV1
TargetCV CV3 (pressure should be held constant if possible)
CV3Target 60% (of pressure range)
The MMC calculates CV1, CV2, and CV3 so that the control goals are
accomplished in the following order of importance:
1. Control PV1 to SP1 (PV1 is always considered more important than PV2)
2. Control PV2 to SP2
3. Control CV3 to its target value
CV1 is selected as the most active control for PV1 and CV2 as the most active for
PV2. If either CV1 or CV2 saturates or is put in Manual mode, the control
variable will use CV3 to maintain PV1 and PV2 at the setpoints.
See also
Module Multivariable Control ( MMC) on page 204
MMC Function Block Tuning If an error occurs during the tuning procedure, the tuning is aborted, and an
appropriate AtuneStatus bit is set. Also, a user can abort the tuning by setting the
Errors
AtuneAbort parameter.
After an abort, the CV assumes its value before the step change, and the

MMC Function Block Tuning Follow these steps to configure the tuner.
Procedure 1. Put all three CV parameters into Manual mode.
2. Set the appropriate AtuneStart parameter.

the CV.

updated.
4. Set the appropriate AtuneUseModel parameter to copy the tuned

parameters to the model parameters

To identify models and to calculate response time constants for all six CV - PV
processes, run the tuner up to three times to obtain CV1 - PV2, CV2 - PV2, and
CV3 - PV2 models and tuning, respectively. After each run, two process models
are identified: CV - PV1 and CV - PV2 (two process variables respond as a result
of one CV step change)

Current SP The current SP is based on the Cascade/Ratio mode, the PVTracking value, auto
mode, and the ProgOper value.
Use the Coordinated Control This is an example of how you could use the Coordinated Control function block
Function Block to Control to control the temperature in a process.
Name Description
PV Temperature
Act1stCV CV3 (high pressure steam)
Act2ndCV CV2 (cooling)
Act3rdCV CV1 (low pressure steam)
Target1stCV CV2
Target2ndCV CV3
Target3rdCV CV1
CV1Target 0%
This value is irrelevant since in the target list setup, CV1 has the lowest priority, and will assume the steady state
load to maintain PV at the setpoint.
CV2Target 0%
CV3Target 10%

Temperature Example Explanation
Manipulating the PV at the setpoint is the top priority. The high pressure steam
and cooling are selected as the most active actuators. At steady state, the same two
controls should assume their target values: CV3 at 10% and CV2 at 0%. CV1 will
assume any value needed to maintain PV at the setpoint; therefore, its target value
is irrelevant since manipulating the PV at the setpoint is a higher priority control
objective. Target CV priorities and target CV values can be changed on-line.
The CC function block calculates CV1, CV2 and CV3 such that the control goals
are accomplished in the following order of importance:
1. Control PV to SP
At this point, you have completed the basic configuration. You did not configure
the built-in tuner. The control variable is ready to be put on-line in either auto or
Manual mode. For tuning, the default settings will be used. Refer to CC Function
Block Tuning.
If you do not know the process models, you need to identify the models and tune
the function block by using the built-in tuner (modeler) for the function block to
operate correctly in the Auto mode.
The function block uses first order lag with deadtime internal process models and
first order filters (total of up to twelve tuning parameters) to calculate the CV's.
Each CV is calculated such that the process variable (PV) follows a first order lag
trajectory when approaching the setpoint value.
Speed of response depends on the value of the response time constants. The
smaller the response time constants, the faster the control variable response will be.
The response time constants should be set such that the PV reaches the setpoint in
reasonable time based on the process dynamics. The larger the response time
constants are, the slower the control variable response will be, but the control
variable also becomes more robust. See the tuning section for more details.
In the Manual mode, the control variables (CV) are set equal to the operator-
entered or program-generated CVnOper or CVnProg parameters. For the Manual
to Auto mode bumpless transfer and for safe operation of the control variable, the
CV rate of change limiters are implemented such that CV's cannot move from
current states by more than specified CV units at each scan.
To limit the CV rate of change:
• Set the CVnROCPosLimit and CVnROCNegLimit

Rate limiting is not imposed when control variable is in Manual mode unless
CVManLimiting is set.
See also
CC Function Block Tuning on page 183
CV High/Low Limiting The instruction always performs alarming based on CVHLimit and CVLLimit.
Limit CV by CVHLimit and CVLLimit when in auto or cascade/ratio mode.
When in manual mode, limit CV by CVHLimit and CVLLimit when
CVManLimiting is set. Otherwise limit CV by 0 and 100%.
Follow the guidelines in this diagram:
Item Description
CVHAlarm is cleared(1)
CVLAlarm is cleared(1)
CVHAlarm is set
CVLAlarm is set
CV is greater than CVHLimit
CV is less than or equal to CVHLimit
CV is less than CVLLimit
CV is greater than or equal to CVLLimit

Item Description
If CVHAlarm is set
CV = CVHLimit
If CVLAlarm is set
CV = CVLLimit
CV from 0 to 100% limit algorithm
CVHAlarm is set and auto or cascasde/ratio or

(manual and CVManLimiting is set)
CVLAlarm is set and auto or cascasde/ratio or
(manual and CVManLimiting is set).
CV limited to CV high/low limits.
CV Percent Limiting The following diagram illustrates how the instruction determines CV percent
limiting.
Item Description
CVHAlarm is cleared(1)
CVLAlarm is cleared(1)
CVHAlarm is set
CVLAlarm is set
CV is greater than 100
CV is less than or equal to 0
CV is less than 0
CV is greater than or equal to 0

Item Description
If CVHAlarm is set
CV = 100
If CVLAlarm is set
CV = 100
CV from windup algorithm
CVHAlarm
CVLAlarm
CV limited to 0 to 100%
CV Rate-of-Change Limiting The PIDE instruction limits the rate-of-change of CV when in Auto or
Cascade/Ratio mode or when in Manual mode and CVManLimiting is set. A
value of zero disables CV rate-of-change limiting.
The CV rate-of-change is calculated as:
where DeltaT is in seconds.

CV Windup Limiting Limit the CV such that its value cannot increase when WindupHIn is set or
decrease when WindupLIn is set. These inputs are typically the WindupHOut or
WindupLOut outputs from a secondary loop. The WindupHIn and WindupLIn
inputs are ignored if CVInitializing, CVFault, or CVEUSpanInv is set.
Item Description
selected CV
WindupHIn
WindupLIn
if WindupHIn and CV is greater than CVn-1

CV = CVn-1
if WindupHIn and CV is less than CVn-1
CV = CVn-1
CV from windup algorithm

Execution Math status flags are set for the CV output.
Condition Function Block Action Structured Text Action

Prescan InstructionFirstScan is set InstructionFirstScan is set
Instruction First Scan If CVFault and CVEUSpanInv are set, see Processing Faults. If CVFault and CVEUSpanInv are cleared:
1. CVInitializing is set.
2. If PVFault is set, PVSpanInv and SPLimitsInv are cleared. See Processing Faults.
3. The PID control algorithm is not executed.
4. The instruction sets CVEU = CVInitValue and CV = corresponding percentage.
CVInitValue is not limited by CVEUmaximum or CVEUMin. When the instruction calculates CV as the
corresponding percentage, it is limited to 0-100.
5. When CVInitializing and ManualAfterInit are set, the instruction disables auto and cascade/ratio modes. If the
current mode is not Override or Hand mode, the instruction changes to Manual mode. If ManualAfterInit is
cleared the mode is not changed.
6. All the operator request inputs are cleared.
7. If ProgValueReset set, all the program request inputs are cleared
8. All the PV high-low, PV rate-of-change, and deviation high-low alarm outputs are cleared.
9. If CVInitReq is cleared, CVInitializing is cleared.
Instruction first run ProgOper is cleared. ProgOper is cleared.
The instruction changes to manual mode. The instruction changes to manual mode.
EnableIn is cleared EnableOut is cleared, the instruction does nothing, and the N/A
EnableIn is set The instruction executes. EnableIn is always set.
EnableOut is set. The instruction executes.
Postscan No action taken. No action taken.
See also
Processing Faults on page 259
Switch Between Program The PIDE instruction can be controlled by either a user program or an operator
interface. You can change the control mode at any time. Program and
Control and Operator Control
Operator control use the same ProgOper output. When ProgOper is set, control
is Program; when ProgOper is cleared, control is Operator.

The following diagram shows how the PIDE instruction changes between
For more information on program and operator control, refer to

Program/Operator Control.
See also
Program/Operator Control on page 502
Operating Modes The Cascade/Ratio, Auto, and Manual modes can be controlled by a user program
when in Program control or by an operator interface when in Operator control.
The Override and Hand modes have a mode request input that can only be
controlled by a user program; these inputs operate in both Program and Operator
control.
Operating Mode Description

Cascade/Ratio While in Cascade/Ratio mode the instruction computes the change in CV. The instruction
regulates CV to maintain PV at either the SPCascade value or the SPCascade value multiplied
by the Ratio value. SPCascade comes from either the CVEU of a primary PID loop for cascade
control or from the “uncontrolled” flow of a ratio-controlled loop.
Select Cascade/Ratio mode using either OperCasRatReq or ProgCasRatReq:
Set OperCasRatReq to request Cascade/Ratio mode. Ignored when ProgOper,
ProgOverrideReq, ProgHandReq, OperAutoReq, or OperManualReq is set, or when
AllowCasRat is cleared.
Set ProgCasRatReq to request Cascade/Ratio mode. Ignored when ProgOper or
AllowCasRat is cleared or when ProgOverrideReq, ProgHandReq, ProgAutoReq, or
ProgManualReq is set.

Auto While in Auto mode the instruction computes the change in CV. The instruction regulates CV
to maintain PV at the SP value. If in program control, SP = SPProg; if in Operator control, SP
= SPOper.
Select Auto mode using either OperAutoReq or ProgAutoReq:
Set OperAutoReq to request Auto mode. Ignored when ProgOper, ProgOverrideReq,
ProgHandReq, or OperManualReq is set.
Set ProgAutoReq to request Auto mode. Ignored when ProgOper is cleared or when
ProgOverrideReq, ProgHandReq, or ProgManualReq is set.
Manual While in Manual mode the instruction does not compute the change in CV. The value of CV is
determined by the control. If in Program control, CV = CVProg; if in Operator control, CV =
CVOper.
Select Manual mode using either OperManualReq or ProgManualReq:
Set OperManualReq to request Manual mode. Ignored when ProgOper, ProgOverrideReq,
or ProgHandReq is set.
Set ProgManualReq to request Manual mode. Ignored when ProgOper is cleared or when
ProgOverrideReq or ProgHandReq is set.
Override While in Override mode the instruction does not compute the change in CV. CV = CVOverride,
regardless of the control mode. Override mode is typically used to set a “safe state” for the
PID loop.
Select Override mode using ProgOverrideReq:
Set ProgOverrideReq to request Override mode. Ignored when ProgHandReq is cleared.
Hand While in Hand mode the PID algorithm does not compute the change in CV. CV = HandFB,
regardless of the control mode. Hand mode is typically used to indicate that control of the
final control element was taken over by a field hand/auto station.
Select Hand mode using ProgHandReq:
Set ProgHandReq to request hand mode. This value is usually read as a digital input from

Convert the PV and SP Values to The instruction converts PV and SP to a percent and calculates the error before
performing the PID control algorithm. The error is the difference between the PV
Percent
and SP values. When ControlAction is set, the values of EPercent, E, and
PVPIDPercent are negated before being used by the PID algorithm.
Primary Loop Control Primary loop control is typically used by a primary PID loop to obtain bumpless
switching and anti-reset windup when using Cascade/Ratio mode. The primary
loop control includes the initialize primary loop output and the anti-reset windup
outputs. The InitPrimary output is typically used by the CVInitReq input of a
primary PID loop. The windup outputs are typically used by the windup inputs of
a primary loop to limit the windup of its CV output.
Item Description
InitPrimary is cleared
WindupHOut is cleared(4)

Item Description
WindupLOut is cleared(4)
InitPrimary is set(1)
WindupHOut is set
WindupLOut is set
CVInitializing is set or not Cascade/Ratio mode(2)
CVInitializing is cleared and Cascade/Ration mode(3)
SHPAlarm is set or appropriate Cv alarm(5)
SHPAlarm is cleared and no CV alarm(6)
SPAlarm is set or appropriate CV alarm(7)
SPAlarm is cleared and no CV alarm(8)
1. During first scan, the instruction sets InitPrimary
2. When CVInitializing is set or when not in Cascade/Ratio mode, the

instruction sets InitPrimary.
3. When CVInitializing is cleared and in Cascasde/Ratio mode, the

instruction clears InitPrimary.
4. During instruction first scan, the instruction clears the windup outputs.
The instruction also clears the windup outputs and disables the CV windup
algorithm when CVInitializing is set or if either CVFaulted or
CVEUSpanlnv is set.
5. The instruction sets WindupHOut when SPHalarm is set, or when

ControlAction is cleared and CVHAlarm is set, or when ControlAction is
set and CVLAarm is set.
The SP and CV limits operate independently. A SP high limit does not
prevent CV from increasing in value. Likewise, a CV high or low limit does
not prevent SP from increasing in value.
6. The instruction clears WindupHOut when SPHalarm is cleared, and not

(ControlAction is cleared and CVHAlarm is set), and not (ControlAction
is set and CVLAlarm is set).
7. The instruction sets WinindupLOut when SPLAlarm is set, or when

ControlAction is cleared and CVLAlarm is set or when ControlAction is
set and CVHAlarm is set.
The SP and CV limits operate independently. A SP low limit does not
prevent CV from increasing in value likewise a CV low or high limit does
not prevent SP from increasing in value.
8. The instruction clears WindupLOut when SPLAlarm is cleared and not

(ControlAction is cleared and CVLAlarm is set) and not (ControlAction is
set and CVHAlarm is set).
Processing Faults The following table describes how the instruction handles execution faults:
Fault Condition Action

CVFaulted • Instruction is not initialized, CVInitializing is cleared.
or • Compute PV and SP percent, calculate error, update internal parameters for EPercent and
CVEUSpanInv PVPIDPercent
is set • PID control algorithm is not executed.
• Disable the Auto and Cascade/Ratio modes. If Override or Hand is not the current mode,
set to Manual mode.
• Set CV to value determined by Program or Operator control and mode (Manual, Override,
or Hand).
CVinitRequest Refer to Execution.
PV Health Bad • Disable the Auto and CasRat modes. If Override or Hand is not the current mode then set
to the Manual mode.
• Set PV high-low, PV rate-of-change, and deviation high-low alarm outputs FALSE
• PID control algorithm is not executed.
• Set CV to value by determined by Program or Operator control and mode (Manual,
Override or Hand).
PVFaulted is set • Disable the Auto and Cascade/Ratio modes. If Override or Hand is not the current mode,
set to Manual mode.
• PV high-low, PV rate-of-change, and deviation high-low alarm outputs are cleared
Override, or Hand).
PVSpanInv is set or • Disable the Auto and Cascade/Ratio modes. If Override or Hand is not the current mode,
SPLimitsInv is set set to Manual mode.
• Do not compute PV and SP percent.
Override, or Hand).
RatioLimitsInv is set and • If not already in Hand or Override, set to Manual mode.
CasRat is set and UseRatio is • Disable the Cascade/Ratio mode.
set
• Set CV to value determined by Program or Operator control and mode (Manual, Override,
or Hand).
TimingModeInv is set or • If not already in Hand or Override, set to Manual mode.
RTSTimeStampInv is set or
DeltaTInv is set
See also
Execution on page 254
Select the Control Variable

Once the PID algorithm has been executed, select the CV based on program or
operator control and the current PID mode.
Update the CVOper and CVProg If not in the Operator Manual mode, the PIDE instruction sets CVOper = CV.
Values This obtains bumpless mode switching from any control to the Operator Manual
mode.
Select the Setpoint Once the instruction determines program or operator control and the PID mode,
the instruction can obtain the proper SP value.
• Enhanced PID on page 67

• Current SP on page 248
• SP High/Low Limiting on page 261

SP High/Low Limiting The high-to-low alarming algorithm compares SP to the SPHLimit and SPLLimit
alarm limits. SPHLimit cannot be greater than PVEUmaximum and SPLLimit
cannot be less than PVEUMin.

Chapter 2
Drives
Drives Instructions The Drives instructions include the following information.
Available Instructions
Ladder Diagram
Not available
INTG PI PMUL SCRV SOC UPDN HMIBC

Execute an integral operation. INTG
Execute a PI algorithm. PI
Provide an interface from a position input module, such as a resolver or encoder feedback PMUL
module, to the digital system by computing the change in input from one scan to the next.
Perform a ramp function with an added jerk rate SCRV
Use a gain term, a first order lag, and a second order lead. SOC
Add and subtract two inputs into an accumulated value. UPDN
Enable operators to initiate machine control operations, such as jogging a motor or enabling a HMIBC
valve, with a high degree of accuracy and determinism.
See also
Process Control Instructions on page 19

Chapter 2 Drives
Integrator (INTG) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The INTG instruction implements an integral operation. This instruction is

designed to execute in a task where the scan rate remains constant.
Available Languages
Ladder Diagram
Function Block
Structured Text
INTG(INTG_tag);
Operands
Function Block

INTG tag INTEGRATOR Structure INTG structure

Drives Chapter 2
INTEGRATOR Structure

Default is set.
Valid = any float
Default = 0.0
Initialize BOOL Request to initialize control algorithm. Output = InitialValue as
long as Initialize is set.
Valid = any float
Default = 0.0
InitialValue REAL The initial value for instruction. Output = InitialValue as long as
Initialize is set.
Valid = any float
Default = 0.0
IGain REAL The integral gain multiplier. If IGain < 0; the instruction sets
IGain = 0.0, sets the appropriate bit in Status, and leaves the
Output unchanged.
Default = 0.0
HighLimit REAL The high limit value for Out. If HighLimit LowLimit, the
instruction sets HighAlarm and LowAlarm, sets the appropriate
bit in Status, and sets Out = LowLimit.
Valid = any float
LowLimit REAL The low limit value for Out. If HighLimit LowLimit, the
instruction sets HighAlarm and LowAlarm, sets the appropriate
bit in Status, and sets Out = LowLimit.
Valid = any float
HoldHigh BOOL Hold output high request. When set, Out is not allowed to
increase in value.
Default is cleared.
HoldLow BOOL Hold output low request. When set, Out is not allowed to
decrease in value.
Default is cleared.

0 = Periodic mode
1 = Oversample mode
Attributes.
Valid = 0 to 2
Default = 0
Default = 0
Default = 1

Chapter 2 Drives
Default = 0

Out REAL The calculated output of the algorithm.
HighAlarm BOOL High limit alarm indicator. When Out
HighLimit, HighAlarm is set and the output is
limited to the value of HighLimit.
LowAlarm BOOL Low limit alarm indicator. When Out
LowLimit, LowAlarm is set and the output is
limited to the value of LowLimit.
IGainInv (Status.1) BOOL IGain > maximum or IGain < minimum.
HighLowLimsInv (Status.2) BOOL HighLimit LowLimit.
RTSMissed (Status.28) BOOL Only used in real time sampling mode. Set
when
ABS | DeltaT - RTSTime | > 1 (.001 second).
RTSTimeStampInv (Status.30) BOOL Invalid RTSTimeStamp value.
Structured Text

INTG tag INTEGRATOR Structure INTG structure

Drives Chapter 2
Description
The INTG instruction is designed to execute in a task where the scan rate remains
constant.
The INTG instruction executes this control algorithm when Initialize is cleared
and DeltaT > 0.
instruction sets Out = the invalid value. The internal parameters are not updated.
In each subsequent scan, the output is computed using the internal parameters
from the last scan when the output was valid.
No
Major/Minor Faults

faults.
Execution
Function Block


Instruction first scan The internal parameters and Out are set to 0.
Structured Text


Chapter 2 Drives
Examples
In many applications an integral gain component is included in the closed loop

regulator design in order to eliminate or minimize error in the system being
regulated. A straight proportional-only regulator will not tend to drive error in the
system to zero. A regulator that uses proportional and integral gain, however,
tends to drive the error signal to zero over a period of time. The INTG instruction
uses the following equation to calculate its output.
In the chart below, the input to the block moves from 0 to +200 units. During this
period, the output of the block integrates to 2800 units. As In changes from +200
units to 0 units, Out maintains at 2800 units. When In transitions from 0 to -300
units, Out slowly integrates down to -1400 units until In transitions back to 0.
Finally, as In moves from 0 to +100, Out integrates back to 0 where In is set to 0
coincidentally with Out reaching 0.
This characteristic of the integrator - continually driving in a specific direction

while any input to the function is present or holding at any level during the point
where the input is at zero - is what causes a regulator using integral gain to drive
toward zero error over a period of time.
The following example shows how the INTG instruction can be used. In many
instances, the HighLimit and LowLimit inputs limit the total percentage of
control that the integral gain element might have as a function of the regulator’s
total output. The HoldHigh and HoldLow inputs, on the other hand, can be used
to prevent the output from moving further in either the positive or negative
direction. The HoldHigh and HoldLow inputs prevent the INTG instruction

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from "winding-up" in a direction which is already beyond the limits of the

controlled variable.
Function Block
This example is the minimal legal programming of the INTG function block and
is only used to show the neutral text and generated code for this instruction. This
is for internal purposes only and is not a testable case.
Structured Text
INTG_01.In := Input_Value;
INTG_01.Initialize := Initialize_flag;
INTG_01.InitialValue := Int_Init_Val;
INTG_01.IGain := I_Gain;
INTG_01.HighLimit := Int_saturate_high;
INTG_01.LowLimit := Int_saturate_low;
INTG_01.HoldHigh :=HAlarm_Status;
INTG_01.HoldLow := LAlarm_Status;
INTG(INTG_01);

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See also
Proportional + Integral (PI) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The PI instruction provides two methods of operation. The first method follows
the conventional PI algorithm in that the proportional and integral gains remain
constant over the range of the input signal (error). The second method uses a non-
linear algorithm where the proportional and integral gains vary over the range of
the input signal. The input signal is the deviation between the setpoint and
feedback of the process.
Available Languages
Ladder Diagram
Function Block
Structured Text
PI(PI_tag);
Operands
Function Block

PI tag PROP_INT structure PI structure

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Structured Text

PI tag PROP_INT structure PI structure
PROP_INT Structure
Input Data Type Description

Parameter
EnableIn BOOL Enable input. If cleared, the instruction does not execute and outputs are not updated.
Default is set.
In REAL The process error signal input. This is the difference between setpoint and feedback.
Valid = any float
Default = 0.0
Initialize BOOL The instruction initialization command. When set, Out and internal integrator are set equal
to the value of InitialValue.
Default is cleared.
InitialValue REAL The initial value input. When Initialize is set, Out and integrator are set to the value of
InitialValue. The value of InitialValue is limited using HighLimit and LowLimit.
Valid = any float
Default = 0
Kp REAL The proportional gain. This affects the calculated value for both the proportional and
integral control algorithms. If invalid, the instruction clamps Kp at the limits and sets the
Valid = any float > 0.0
Default = minimum positive float
Wld REAL The lead frequency in radians/second. This affects the calculated value of the integral
control algorithm. If invalid, the instruction clamps Wld at the limits and sets the
Valid = see the Description section below for valid ranges
Default = 0.0
HighLimit REAL The high limit value. This is the maximum value for Out. If HighLimit LowLimit, the
instruction sets HighAlarm and LowAlarm, sets the appropriate bit in Status, and sets Out =
LowLimit.
Valid = LowLimit < HighLimit maximum positive float
LowLimit REAL The low limit value. This is the minimum value for Out. If HighLimit LowLimit, the
instruction sets HighAlarm and LowAlarm, sets the appropriate bit in Status, and sets Out =
LowLimit.
Valid = maximum negative float LowLimit < HighLimit
HoldHigh BOOL The hold high command. When set, the value of the internal integrator is not allowed to
increase in value.
Default is cleared.
HoldLow BOOL The hold low command. When set, the value of the internal integrator is not allowed to
decrease in value.
Default is cleared.

Chapter 2 Drives

Parameter
ShapeKpPlus REAL The positive Kp shaping gain multiplier. Used when In is 0. If invalid, the instruction
clamps ShapeKpPlus at the limits and sets the appropriate bit in Status. Not used when
NonLinearMode is cleared.
Valid = 0.1 to 10.0
Default = 1.0
ShapeKpMinus REAL The negative Kp shaping gain multiplier. Used when In is < 0. If invalid, the instruction
clamps ShapeKpMinus at the limits and sets the appropriate bit in Status. Not used when
Valid = 0.1 to 10.0
Default = 1.0
KpInRange REAL The proportional gain shaping range. Defines the range of In (error) over which the
proportional gain increases or decreases as a function of the ratio of | In | / KpInRange.
When | In | > KpInRange, the instruction calculates the change in proportional error using
entered the Kp shaping gain x (In - KpInRange). If invalid, the instruction clamps KpInRange
at the limits and sets the appropriate bit in Status. Not used when NonLinearMode is
cleared.
ShapeWldPlus REAL The positive Wld shaping gain multiplier. Used when In is 0. If invalid, the instruction
clamps ShapeWldPlus at the limits and sets the appropriate bit in Status. Not used when
Valid = 0.0 to 10.0
Default = 1.0
ShapeWldMinu REAL The negative Wld shaping gain multiplier. Used when In is < 0. If invalid, the instruction
s clamps ShapeWldMinus at the limits and sets the appropriate bit in Status. Not used when
Valid = 0.0 to 10.0
Default = 1.0
WldInRange REAL The integral gain shaping range. Defines the range of In (error) over which integral gain
increases or decreases as a function of the ratio of | In | / WldInRange. When
|In| > WldInRange, the instruction limits In to WldInRange when calculating integral error.
If invalid, the instruction clamps WldInRange at the limits and sets the appropriate bit in
Status. Not used when NonLinearMode is cleared.
NonLinearMod BOOL Enable the non-linear gain mode. When set, the instruction uses the non-linear gain mode
e selected by ParabolicLinear to compute the actual proportional and integral gains. When
cleared, the instruction disables the non-linear gain mode and uses the Kp and Wld values
as the proportional and integral gains.
Default is cleared.
ParabolicLinear BOOL Selects the non-linear gain mode. The modes are linear or parabolic. When set, the
instruction uses the parabolic gain method of y=a * x2 + b to calculate the actual
proportional and integral gains. If cleared, the instruction uses the linear gain method of
y=a * x + b.
Default is cleared.
0 = Periodic mode
1 = Oversample mode
Valid = 0 to 2
Default = 0

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Parameter
Default = 0
Default = 1
Default = 0
Output Data Type Description

Parameter
EnableOut BOOL Indicates the execution status of the instruction.
Out REAL The calculated output of the PI algorithm. Math status flags are set for this output.
HighAlarm BOOL The maximum limit alarm indicator. Set when the calculated value for Out
HighLimit and the output and integrator are clamped at HighLimit.
LowAlarm BOOL The minimum limit alarm indicator. Set when the calculated value for Out
LowLimit and output and integrator are clamped at LowLimit.
DeltaT REAL Elapsed time between updates. This is the elapsed time in seconds used by the control
InstructFault BOOL The instruction detected one of the following execution errors. This is not a minor or
(Status.0) major controller error. Check the remaining status bits to determine what occurred.
KpInv (Status.1) BOOL Kp < minimum or Kp > maximum.
WldInv (Status.2) BOOL Wld < minimum or Wld > maximum.
HighLowLimsInv BOOL HighLimit LowLimit.
(Status.3)
ShapeKpPlusInv BOOL ShapeKpPlus < minimum or ShapeKpPlus > maximum.
(Status.4)
ShapeKpMinusInv BOOL ShapeKpMinus < minimum or ShapeKpMinus > maximum.
(Status.5)
KpInRangeInv BOOL KpInRange < minimum or KpInRange > maximum.
(Status.6)
ShapeWldPlusInv BOOL ShapeWldPlus < minimum or ShapeWldPlus > maximum.
(Status.7)
ShapeWldMinusIn BOOL ShapeWldMinus < minimum or ShapeWldMinus > maximum.
v (Status.8)
WldInRangeInv BOOL WldInRange < minimum or WldInRange > maximum.
(Status.9)
TimingModeInv BOOL Invalid TimingMode.
(Status.27) For more information about timing modes, see Function Block Attributes.
RTSMissed BOOL Only used in real time sampling mode. Set when
(Status.28) ABS | DeltaT - RTSTime | > 1 (.001 second).
(Status.29)

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Parameter
(Status.30)
DeltaT (Status.31) BOOL Invalid DeltaT value.
Description
The PI instruction uses the position form of the PI algorithm. This means the gain
terms are applied directly to the input signal, rather than to the change in the
input signal. The PI instruction is designed to execute in a task where the scan rate
remains constant.
In the non-linear algorithm, the proportional and integral gains vary as the
magnitude of the input signal changes. The PI instruction supports two non-linear
gain modes: linear and parabolic. In the linear algorithm, the gains vary linearly as
the magnitude of input changes. In the parabolic algorithm, the gains vary
according to a parabolic curve as the magnitude of input changes.
The PI instruction calculates Out using this equation:
instruction sets Out = the invalid value and sets the math overflow status flag. The
internal parameters are not updated. In each subsequent scan, the output is
computed using the internal parameters from the last scan when the output was
valid.
Operating in Linear Mode
In linear mode, the non-linear gain mode is disabled. The Kp and Wld values are
the proportional and integral gains used by the instruction. The instruction
calculates the value for Out using these equations:
Value Equation
ITerm
where DeltaT is in seconds

PTerm Kp x In
Out ITerm + PTerm
with these limits on Wld:
• Low Limit > 0.0

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• High Limit = 0.7π/DeltaT

• WldInput = In
Operating in Non-Linear Mode
In non-linear mode, the instruction uses the non-linear gain mode selected by
ParabolicLinear to compute the actual proportional and integral gains.
The gains specified by Kp and Wld are multiplied by 1.0 when In = 0. Separate
proportional and integral algorithms increase or decrease the proportional or
integral gain as the magnitude of error changes. These algorithms use the input
range and shaping gain parameters to compute the actual proportional and
integral gains. Input range defines the range of In (i.e. error) over which the gain is
shaped. Input ranges are set by the two KpInRange and WldInRange. Shaping
gain defines the gain multiplier for the quadrant controlled by the shaping gain
parameter. Shaping gains are set by ShapeKpPlus, ShapeKpMinus, ShapeWldPlus
and ShapeWldMinus.
The ParabolicLinear input selects the non-linear gain mode. If ParabolicLinear is

cleared, linear mode is selected. If ParabolicLinear is set, parabolic mode is selected.
To configure a particular shaping gain curve, enter a shaping gain 0.0-10.0 for
integral shaping, a shaping gain 0.1-10.0 for proportional shaping, and the input
range over which shaping is to be applied. Kp and Wld are multiplied by the
calculated ShapeMultiplier to obtain the actual proportional and integral gains.
Entering a shaping gain of 1.0 disables the non-linear algorithm that calculates the
proportional or integral gain for the quadrant.
When the magnitude of In (error) is greater then InRange then the

ShapeMultiplier equals the value computed when | In | was equal to InRange.

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The following diagram illustrates the maximum and minimum gain curves that
represent the parabolic and linear gain equations.
The instruction calculates the value for Out using these equations:
Value Equation
Kp shaping gain multiplier
Kp input ratio
Kp ratio
Kps shaping gain

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Proportional output
Wld shaping gain
Wld input
Wld input ratio
Wld ratio
Wlds shaping gain
Wlds limits
Integral output
Output
Limiting
The instruction stops the ITerm windup based on the state of the hold inputs.
Condition Action

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The instruction also stops integrator windup based on the HighLimit and
LowLimit values.
Condition Action
Integrator > HighLimit Integrator = HighLimit
Integrator > LowLimit Integrator = LowLimit
The instructions limits the value of Out based on the HighLimit and LowLimit
values.
Condition Action
HighLimit LowLimit Out = LowLimit
ITerm = LowLimit
HighLowLimsInv is set
HighAlarm is set
LowAlarm is set
WldInput = 0
Out HighLimit Out = HighLimit
ITerm = ITerm n-1
HighAlarm is set
ITerm > HighLimit ITerm = HighLimit
Out LowLimit Out = LowLimit
ITerm = ITerm n-1
LowAlarm is set
ITerm < LowLimit ITerm = LowLimit
No
Major/Minor Faults

faults.

Drives Chapter 2
Execution
Function Block
Condition Action Taken

Prescan EnableIn and EnableOut are cleared to false.
Tag.EnableIn is true EnableIn and EnableOut bit is set to true.
Instruction first run Out n-1 = 0
The algorithm used to calculate Out will not be
executed.
Instruction first scan Out n-1 = 0
The algorithm used to calculate Out will not be
executed.
Structured Text

Example
The PI instruction is a regulating instruction with proportional and integral gain

components. The integral gain component is set by the user in radians/sec; this
sets the basic frequency response of the PI regulator. The proportional gain sets
the overall gain of the block, including the proportional AND integral gain of the
block.
Excluding initialization and holding/clamping functionality, the following

diagram shows the PI block’s basic regulating loop while in the linear mode.

Chapter 2 Drives
PI Instruction: Linear Mode
The following example shows the PI instruction used as a velocity regulator. In

this example, velocity error is created by subtracting the velocity feedback signal
(see the PMUL instruction example) from the system’s velocity reference (through
the SCRV instruction). Velocity error is driven directly into the PI instruction,
which acts on this signal according to the function shown in the diagram above.
Function Block

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Structured Text
Reference_Select.In1 := Master_Machine_Ref;
Reference_Select.Select1 := Master_Machine_Select;
Reference_Select.In2 := Section_Jog;
Reference_Select.Select2 := Jog_Select;
SSUM(Reference_Select);
S_Curve.In := Reference_Select.Out;
S_Curve.AccelRate := accel_rate;
S_Curve.DecelRate := accel_rate;
SCRV(S_Curve);
PMUL_01.In := Resolver_Feedback;
PMUL_01.WordSize := 12;
PMUL_01.Multiplier := 100000;
PMUL(PMUL_01);
Speed_Feedback := PMUL_01.Out;
Velocity_Error := S_Curve.Out - Speed_Feedback;
PI_01.In := Velocity_Error;
PI_01.Initialize := Enable_Regulator;
PI_01.Kp := Velocity_Proportional_Gain;
PI_01.Wld := Velocity_Integral_Gain;
PI(PI_01);
Torque_Reference := PI_01.Out;
See also
Pulse Multiplier (PMUL) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The PMUL instruction provides an interface from a position input module, such
as a resolver or encoder feedback module, to the digital system by computing the
change in input from one scan to the next. By selecting a specific word size, you
configure the PMUL instruction to differentiate through the rollover boundary in
a continuous and linear fashion.

Chapter 2 Drives
Available Languages
Ladder Diagram
Function Block
Structured Text
PMUL(PMUL_tag);
Operands
Function Block

PMUL tag PULSE_MULTIPLIER Structure PMUL structure
Structured Text

PMUL tag PULSE_MULTIPLIER Structure PMUL structure
PULSE_MULTIPLIER Structure

Default is set.
In DINT The analog input signal to the instruction.
Valid = any DINT
Default = 0
Initialize BOOL The initialize input. When set, Out is held at 0.0 and all the internal registers are set to
0. On a set to cleared transition of initialize, In n-1 = InitialValue (not valid for Absolute
mode). When cleared, the instruction executes normally.
InitialValue DINT The initial value input. On a set to cleared transition of initialize, In n-1 = InitialValue
Valid= any DINT
Default = 0.

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Mode BOOL The mode input. Set to enable Relative mode. Clear to enable Absolute mode.
Default is set.
WordSize DINT The word size in bits. Specify the number of bits to use when computing (In n -In n-1 ) in
Relative mode.
WordSize is not used in Absolute mode.
When the change in In is greater than 1/2 * 2(Wordsize-1), Out changes sign.
When WordSize is invalid,Out is held and the instruction sets the appropriate bit in
Status.
Valid = 2 to 32
Default = 14
Multiplier DINT The multiplier. Divide this value by 100,000 to control the ratio of In to Out. If invalid,
the instruction limits the value and sets the appropriate bit in Status.
Valid = -1,000,000 to 1,000,000
Default = 100,000

Parameter
Out REAL The instruction’s Out. If the Out calculation overflows, Out is forced to +/- and the
appropriate bit in Status is set. Math status flags are set for this output.
WordSizeInv BOOL Invalid WordSize value.
(Status.1)
OutOverflow BOOL The internal output calculation overflowed.
(Status.2)
LostPrecision BOOL Out < -224 or Out > 224. When the instruction converts Out from an integer to a real
(Status.3) value, data is lost if the result is greater than |224| because the REAL data type is
limited to 224.
MultiplierInv BOOL Invalid Multiplier value.
(Status.4)
Description
The PMUL instruction operates in Relative or Absolute mode.
In Relative mode, the instruction’s output is the differentiation of the input from
scan to scan, multiplied by the (Multiplier/100,000). In Relative mode, the
instruction saves any remainder after the divide operation in a scan and adds it

Chapter 2 Drives
back in during the next scan. In this manner, position information is not lost over
the course of the operation.
In the Absolute mode, the instruction can scale an input, such as position, without
losing any information from one scan to the next.
Calculating the Output and Remainder
The PMUL instruction uses these equations to calculate Out in either relative or
absolute mode:
Ans = ((DiffInput x Multiplier) + INT_Remainder)
INT_Out = Ans / 100,000
INT_Remainder= Ans - (INT_Out * 100,000)
Out = INT_Out
No
Major/Minor Faults

faults.

Drives Chapter 2
Execution
Function Block

Instruction first scan In n-1 = In. Out n-1 =0. Reminder = 0.
Structured Text

Examples
Example 1
The most common use of the PMUL instruction is in the relative mode of
operation. In this mode, the PMUL instruction serves several purposes. First, in
the relative mode, the PMUL instruction differentiates the information that it
receives at its input from scan to scan. As data is received, the instruction outputs
the difference of the input from one scan to the next. This means that if In = 500
at scan "n", and then In = 600 at scan "n+1", Out = 100 at scan "n+1."
Secondly, while in this mode of operation, the PMUL instruction also

compensates for "rollover" values of binary data originating from a feedback
module. For example, a resolver feedback module may have 12 bits of resolution,
represented as a binary value, with sign, ranging from -2048 to 2047. In terms of

Chapter 2 Drives
raw data coming from the feedback module, the rotation of the feedback device
might be represented as shown below:
In this example, as the value of the feedback data moves from 2047 to -2048, the
effective change in position is equivalent to a jump of 4095 counts in position. In
reality, however, this change in position is only 1 part in 4096 in terms of the
rotation of the resolver feedback device. By understanding the true word size of
the data that is being input from the feedback module, the PMUL instruction
views the data in a rotary fashion as shown in the following diagram:
By knowing the word size of the data that is input to this block, the PMUL
instruction differentiates an output of 1 count as the input to the block moves
from 2047 to -2048, instead of the mathematically calculated 4095.
Tip: When applying this block, it is important to note that the feedback data should not change by more than one-
half of the word size from one scan to the next, if rotational direction is to be properly differentiated.
In the example above, if the feedback device is moving in a clockwise direction

such that at scan 'A' it reads 0 and then scan 'B' it reads -2000, actual change in
position is equivalent to +2096 counts in the clockwise direction. However, since
these two values are more than one half the words size, (or more than one half the
rotation of the physical device,) the PMUL instruction calculates that the
feedback device rotated in the opposite direction and returns a value of -2000
instead of +2096.
The third attribute of the pulse multiplier block is that it retains the fractional
components from one scan to the next of any remainders that exist as a result of
the Multiplier/100,000 scaling factor. As each execution of the block is completed,
the remainder from the previous scan is added back into the total of the current

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value so that all counts or "pulses" are ultimately accounted for and no data is lost
in the system. The output of the block, Out always yields a whole number in a
floating point data type.
Function Block
Assuming Initial_Position = 0 and Multiplier = 2500 => (25,000/100,000)
Scan Position_Feedback PMUL_02.Out Total_Position

n 0 0 0
n+1 1 0 0
n+2 2 0 0
n+3 3 0 0
n+4 4 1 1
n+5 5 0 1
Structured Text
MUL_02.In := Position_feedback;
PMUL_02.Initalize := Initialize_Position;
PMUL(PMUL_02);
UPDN_02.Initialize := Initialize_Position;
UPDN_02.InPlus := PMUL_02.Out;
UPDN(UPDN_02);
Total_Position := UPDN_02.Out;
Example 2
In this electronic line shaft application, motor A’s feedback acts as a master
reference which motor B needs to follow. Motor A’s feedback is aliased to
"Position_feedback." Motor B’s feedback is aliased to "Follower_Position." Due to

Chapter 2 Drives
the multipliers of both instructions being a ratio of 1/4, motor B needs to rotate
once for every four revolutions of Motor A in order to maintain an accumulated
value of zero in the UPDN accumulator. Any value other than zero on the output
of the UPDN instruction is viewed as Position_error and can be regulated and
driven back out to motor B in order to maintain a phase-lock between the two
motors.
Function Block
Structured Text
PMUL_02.In := Position_feedback;
PMUL(PMUL_02);
PMUL_03.In := Follower_Position;
PMUL(PMUL_03);
UPDN_02.InPlus := PMUL_02.Out;
UPDN_02.InMinus := PMUL_03.Out;
UPDN(UPDN_02);
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Position_error := UPDN_02.Out;
See also
S-Curve (SCRV) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The SCRV instruction performs a ramp function with an added jerk rate. The jerk
rate is the maximum rate of change of the rate used to ramp output to input.
Available Languages
Ladder Diagram
Function Block
Structured Text
SCRV(SCRV_tag);
Operands
Function Block

SCRV tag S_CURVE Structure SCRV structure
Structured Text

SCRV tag S_CURVE Structure SCRV structure

Chapter 2 Drives
See Structured Text Syntax for more information of the syntax of expressions
S_CURVE Structure
Input Data Description

Parameter Type
Default is set.
Valid = any float
Default = 0.0
Initialize BOOL The Initialize input to the instruction. When set, the instruction holds Out = InitialValue
Default is cleared.
InitialValue REAL Initial value of S-Curve. When Initialize is set, Out = InitialValue.
Valid = any float
Default = 0.0
AbsAlgRamp BOOL Ramp type. If set, the instruction functions as an absolute value ramp. If cleared, the
instruction functions as an algebraic ramp.
Default is set
AccelRate REAL Acceleration rate in input units per second2. A value of zero prevents Out form
accelerating. When AccelRate < 0, the instruction assumes AccelRate = 0 and sets the
Default = 0.0
DecelRate REAL Deceleration rate in input units per second2. A value of zero prevents Out form
decelerating. When the DecelRate < 0, the instruction assumes DecelRate = 0 and sets
Default = 0.0
JerkRate REAL Deceleration rate in input units per second2. A value of zero prevents Out form
decelerating. When the DecelRate < 0, the instruction assumes DecelRate = 0 and sets
Default = 0.0
HoldMode BOOL S-Curve hold mode parameter. This parameter is used with the HoldEnable parameter. If
HoldMode is set when HoldEnable is set and Rate = 0, the instruction holds Out
constant. In this situation, the instruction holds Out as soon as HoldEnable is set, the
JerkRate is ignored, and Out produces a "corner" in its profile. If HoldMode is cleared
when HoldEnable is set, the instruction uses the JerkRate to bring Out to a constant
value. Out is held when Rate = 0. Do not change HoldMode once HoldEnable is set
because the instruction will ignore the change.
Default is cleared.
HoldEnable BOOL S-Curve hold enable parameter. When set, Out is held. When cleared, Out moves from its
current value until it equals In.
Default is cleared.

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0 = periodic mode
1 = oversample mode
Valid = 0 to 2
Default = 0
Default = 0
Default = 1
Default = 0
Output Data Description

Parameter Type
S_Mode BOOL S_Mode Output. When (Jerk * DeltaT) Rate and
Rate < Accel or Decel, S_Mode is set. Otherwise, S_Mode is cleared.
Out REAL The output of the S-Curve instruction. Math status flags are set for this output.
Rate REAL Internal change in the Out in units per second.
DeltaT REAL Elapsed time between updates. This is the elapsed time in seconds used by the control
AcceRateInv BOOL AccelRate is negative.
(Status.1)
DecelRateInv BOOL DecelRate is negative.
(Status.2)
JerkRateInv BOOL JerkRate is negative.
(Status.3)
TimingModeInv BOOL Invalid timing mode.
RTSMissed BOOL Only used in real time sampling mode. Set when
(Status.28) ABS | DeltaT - RTSTime | > 1 (.001 second).
(Status.29)
(Status.30)

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Description
The primary requirement of the SCRV instruction is to ensure that the rate never
changes by more than the specified jerk rate.
You can configure the SCRV instruction to produce an S-Curve profile or a Ramp
profile for a step input.
S-Curve Profile
To produce an S-Curve profile, set JerkRate such that (JerkRate * DeltaT) <
AccelRate and/or DecelRate.
In S-Curve profile mode, the SCRV instruction ensures that the rate never
changes more than the specified JerkRate. The algorithm used to produce the S-
Curve profile is designed to produce a smooth, symmetric S-Curve for a step
input. A trapezoidal integration of Out is incorporated to facilitate this. As a
result, changes in Rate will be less than JerkRate during portions of the profile.
When a step change occurs on the input, rate is increased to the programmed
AccelRate or DecelRate. The AccelRate or DecelRate is maintained until a point
at which rate must begin decreasing in order for the output to reach input when
rate reaches zero.
In some cases, depending on the values of acceleration, deceleration, and jerk, the
acceleration rate or deceleration rate might not be reached before the rate must
begin decreasing by jerk rate.
For very small step changes, the SCRV instruction will not attempt to produce an
'S' profile. In this mode the entire step will be output and Rate will reflect the
change in output. This behavior will occur if Out = In and the next step change to
In can be output with a rate less than or equal to the programmed JerkRate.
The SCRV instruction supports an algebraic ramp and an absolute value ramp.
For an algebraic ramp, the acceleration condition is defined by an input that is
becoming more positive, and the deceleration condition is defined by an input
that is becoming more negative. For an absolute value ramp, the acceleration
condition is defined by an input moving away from zero, and the deceleration
condition is defined by an input moving towards zero.

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Ramp Profile
To produce a Ramp profile, set JerkRate such that (JerkRate * DeltaT)

AccelRate and/or DecelRate.
In Ramp Profile mode, the SCRV instruction always produces a rate of change
equal to the programmed AccelRate or DecelRate until the difference between
Out and In requires less then AccelRate or DecelRate to reach endpoint.
HoldMode = 0 operates the same as HoldMode = 1. When HoldEnable is set,

Out is immediately held and Rate becomes zero.
The following diagram illustrates how the instruction modifies Out.
(1)
When Initialize is set, the instruction sets the following:
Outn = InitialValue
Outn-1 = Outn
Raten = 0
Raten-1 = 0
When HoldMode is cleared, Out is moving toward In, and HoldEnable is set,
(2)
the rate begins decreasing towards zero at the jerk rate. Due to the JerkRate, Out is
held at whatever value it had when the rate reached zero. When the Out is finally
held constant, it has a value that is different from the value it had the instant that
HoldEnable was set.
When HoldMode is set, Out is moving toward In, and HoldEnable is set, the rate
is immediately set to zero. Out is held at whatever value it had when HoldEnable
was set.

Chapter 2 Drives
Reducing the JerkRate during a transition might cause Out to overshoot the In. If
overshoot occurs, it is the result of enforcing the entered JerkRate. You can avoid
an overshoot by decreasing JerkRate in small steps while tuning or by changing
JerkRate while Out = In (not during a transition).
The time that is required for Out to equal a change in the input is a function of
AccelRate, JerkRate, and the difference between In and Out.
Calculating Output and Rate Values
In transition from an initial value to final value, Out goes through three regions. In
region 1 and region 3, the rate of change of Out is based on JerkRate. In region 2,
the rate of change of Out is based on AccelRate or DecelRate.
The Out is calculated for each region as follows:
with these equations for each region:
Region Equation
region 1
region 2

Drives Chapter 2
region 3
When:
the SCRV block does not reach the AccelRate or DecelRate. The Out does the
following:
where:
No
Major/Minor Faults

faults.

Chapter 2 Drives
Execution
Function Block

Tag.EnableIn is true EnableIn and EnableOut bit bits are set to true
Instruction first scan Clear previous scan data.
Postscan EnableIn and EnableOut bits are cleared to false
Structured Text

Example
In most coordinated drive applications, a master reference commands line speed

for an entire group of drives. As various references are selected, the drives cannot
be presented with "step" changes in speed reference because differences in load
inertia, motor torque, and tuning would not allow the individual drive sections to
react in a coordinated manner. The SCRV instruction is designed to ramp and
shape the reference signal to the drive sections so that acceleration, deceleration,
and jerk, (derivative of acceleration,) are controlled. This instruction provides a
mechanism to allow the reference to the drives to reach the designated reference
setpoint in a manner that eliminates excessive forces and excessive impact on
connected machinery and equipment.

Drives Chapter 2
Function Block
Structured Text
SSUM_01.In1 := Master_reference;
SSUM_01.Select1 := master_select;
SSUM_01.In2 := Jog_reference;
SSUM_01.Select2 := jog_select;
SSUM(SSUM_01);
select_out := SSUM_01.Out;
SCRV_01.In := select_out;
SCRV_01.AccelRate := accel;
SCRV_01.DecelRate := accel;
SCRV_01.JerkRate := jerk_rate;
SCRV(SCRV_01);
scurve_out := SCRV_01.Out
See also

Chapter 2 Drives
Second-Order Controller This information applies to the CompactLogix 5370, ControlLogix 5570,
(SOC) CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The SOC instruction is designed for use in closed loop control systems in a similar
manner to the PI instruction. The SOC instruction provides a gain term, a first
order lag, and a second order lead.
Available Languages
Ladder Diagram
Function Block
Structured Text
SOC(SOC_tag);
Operands
Function Block

SOC tag SEC_ORDER_CONTROLLER Structure SOC structure

Drives Chapter 2
SEC_ORDER_CONTROLLER Structure

EnableIn BOOL Enable input. If cleared, the instruction does not execute and outputs are not
updated.
Default is set.
Valid = any float
Default = 0.0
Initialize BOOL The instruction initialization command. When set, Out and internal
integrator are set equal to the value of InitialValue.
Default is cleared.
InitialValue REAL The initial value input. When Initialize is set, Out and integrator are set to
the value of InitialValue. The value of InitialValue is limited using HighLimit
and LowLimit.
Valid = any float
Default = 0.0
Gain REAL The proportional gain for the instruction. If the value is out of range, the
instruction limits the value and sets the appropriate bit in Status.
Default = minimum positive float
WLag REAL First order lag corner frequency in radians/second. If the value is out of
range, the instruction limits the value and sets the appropriate bit in Status.
Default = 0.0
WLead REAL Second order lead corner frequency in radians/second. If the value is out of
range, the instruction limits the value and sets the appropriate bit in Status.
Default = 0.0
ZetaLead REAL Second order lead damping factor. If the value is out of range, the
instruction limits the value and sets the appropriate bit in Status.
Valid = 0.0 to 10.0
Default = 0.0
HighLimit REAL The high limit value. This is the maximum value for Out. If HighLimit
LowLimit, the instruction sets HighAlarm and LowAlarm, sets the
appropriate bit in Status, and sets Out = LowLimit.
Valid = LowLimit < HighLimit maximum positive float
LowLimit REAL The low limit value. This is the minimum value for Out. If HighLimit
LowLimit, the instruction sets HighAlarm and LowAlarm, sets the
appropriate bit in Status, and sets Out = LowLimit.
Valid = maximum negative float LowLimit < HighLimit
HoldHigh BOOL The hold high command. When set, the value of the internal integrator is
not allowed to increase in value.
Default is cleared.
HoldLow BOOL The hold low command. When set, the value of the internal integrator is not
allowed to decrease in value.
Default is cleared.

Chapter 2 Drives

0 = Periodic mode
1 = Oversample mode
Valid = 0 to 2
Default = 0
Default = 0
Default = 1
Default = 0
Output
Parameter Data Type Description
HighAlarm BOOL The maximum limit alarm indicator. Set when the calculated value for Out
HighLimit and the output is clamped at HighLimit.
LowAlarm BOOL The minimum limit alarm indicator. Set when the calculated value for Out
LowLimit and the output is clamped at LowLimit.
DeltaT REAL Elapsed time between updates. This is the elapsed time in seconds used by
the control algorithm to calculate the process output.
InstructFault BOOL The instruction detected one of the following execution errors. This is not a
(Status.0) minor or major controller error. Check the remaining status bits to determine
what occurred.
GainInv (Status.1) BOOL Gain < minimum positive float.
WLagInv BOOL WLag > maximum or WLag < minimum.
(Status.2)
WLeadInv BOOL WLead > maximum or WLead < minimum.
(Status.3)
ZetaLeadInv BOOL ZetaLead > maximum or ZetaLead < minimum.
(Status.4)
HighLowLimsInv BOOL HighLimit LowLimit.
(Status.5)
TimingModeInv BOOL Invalid timing mode.
RTSMissed BOOL Only used in real time sampling mode. Set when ABS | DeltaT - RTSTime | > 1
(Status.28) (.001 second).

Drives Chapter 2
Output
Parameter Data Type Description
(Satus.29)
(Status.30)
Structured Text

SOC tag SEC_ORDER_CONTROLLER structure SOC structure
Description
The SOC instruction provides a gain term, a first order lag, and a second order
lead. The frequency of the lag is adjustable and the frequency and damping of the
lead is adjustable. The zero pair for the second order lead can be complex
(damping is less than unity) or real (damping to unity). The SOC instruction
is designed to execute in a task where the scan rate remains constant.
The SOC instruction uses the following Laplace Transfer equation.

Chapter 2 Drives
The following SOC parameters have these limits on valid values.
Parameter Limit
WLead

WLag

ZetaLead LowLimit = 0.0
HighLimit = 10.0
Whenever the value computed for the output is invalid or NAN, the instruction
sets Out = the invalid value. The internal parameters are not updated. In each
subsequent scan, the output is computed using the internal parameters from the
last scan when the output was valid.
Limiting
The instruction stops wind-up based on state of the Hold inputs.
If: Then:
HoldHigh is set and Integrator > Integrator n-1 Integrator = Integrator n-1
HoldLow is set and Integrator < Integrator n-1 Integrator = Integrator n-1
The instruction also stops integrator windup based on the HighLimit and
LowLimit values.
If: Then:
Integrator > IntegratorHighLimit Integrator = IntegratorHighLimit
Integrator < IntegratorLowLimit Integrator = IntegratorLowLimit

Drives Chapter 2
where:
The instruction also limits the value of Out based on the HighLimit and
LowLimit values.
If: Then:
Integrator = IntegratorLowLimit
HighLowLimsInv is set
HighAlarm is set
LowAlarm is set
Out HighLimit Out = HighLimit
IntegratorLowLimit n-1
HighAlarm is set
Out LowLimit Out = LowLimit
Integrator = Integrator n-1
LowAlarm is set
No
Major/Minor Faults

faults.
Execution
Function Block

Tag.EnableIn is true EnableIn and EnableOut bit is set to true.
Instruction first scan The internal parameters and Out are set to 0. Force
recalculation of equation coefficients.

Chapter 2 Drives
Structured Text

Example
The SOC instruction is a specialized function block that is used in applications

where energy is transferred between two sections through a spring-mass system.
Typically in these types of applications, the frequency response of the process itself
can be characterized as shown in the bode diagram A below:
The SOC instruction implements a first order lag filter followed by a PID
controller to implement a transfer function with an integration, a second order
zero, (lead,) and a first order pole (lag.) With this instruction, PID tuning is
simplified because the regulating terms are arranged so that you have WLead and
ZLead as inputs to the SOC instruction, rather than Kp, Ki, and Kd values. The
transfer function for the SOC instruction is:

Drives Chapter 2
Its corresponding bode diagram is shown in Diagram B below.
The SOC instruction can be used in a torque or tension regulating application

where a load cell or force transducer is used as feedback and the output of the
regulating scheme operates directly on the torque (current) minor loop of the
drive. In many such applications, the controlled system may be mechanically
under-damped and have a natural frequency which is difficult to stabilize as it
becomes reflected through the feedback device itself.
Using the SOC instruction, PID tuning is simplified because the regulating terms
can be arranged so that you have WLead and ZLead as inputs to the SOC
instruction, rather than Kp, Ki, and Kd values. In this manner, the corner
frequencies of the controller/regulator are easier to adjust and setup against the
real world process. During startup, the natural frequency of the system and the
damping factor can be measured empirically or on-site. Afterward, the parameters

Chapter 2 Drives
of the regulator can be adjusted to match the characteristics of the process,

allowing more gain and more stable control of the final process.
In the system above, if Wlead is set equal to the system natural frequency, and if
Wlag is set substantially above the desired crossover frequency, (> 5 times
crossover), the resulting system response would look like the following:
In an actual application, the steps in using and setting up this instruction include:
Recognize the type of process that is being controlled. If the system’s response to a
step function results in a high degree of ringing or can be characterized by the
process curve shown above, this block may provide the regulating characteristics
required for stable control.
Determine the natural frequency of the system/process. This can may be arrived at
empirically - or it might be measured on-site. Adjust WLead so that it corresponds
with, or is slightly ahead of, the natural frequency of the process itself.
Tune damping factor, Zlead, so that it cancels out any of the overshoot in the
system.
Move WLag out far enough past the system crossover frequency (>5 times) and
begin increasing overall Gain to achieve

Drives Chapter 2
Function Block
Structured Text
SOC_01.In := Process_Error;
SOC_01.Initialize := Regulator_Enable_Not;
SOC_01.Gain := Gain;
SOC_01.WLag := Lag_Radians_per_sec;
SOC_01.WLead := Lead_radians_per_sec;
SOC_01.ZetaLead := Damping_Factor;
SOC_01.HighLimit := Max_Out;
SOC_01.LowLimit := Min_Out;
SOC(SOC_01);
SOC_Out := SOC_01.Out;
See also

Chapter 2 Drives
Up/Down Accumulator This information applies to the CompactLogix 5370, ControlLogix 5570,
(UPDN) CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The UPDN instruction adds and subtracts two inputs into an accumulated value.
Available Languages
Ladder Diagram
This instruction is not available for ladder diagram diagram.
Function Block
Structured Text
UPDN(UPDN_tag)
Operands
Function Block

UPDN tag UP_DOWN_ACCUM Structure UPDN structure

Drives Chapter 2
UPDN Structure

EnableIn BOOL Enable input. If cleared, the instruction
does not execute and outputs are not
updated.
Default is set.
Initialize BOOL The initialize input request for the
instruction. When Initialize is set, the
instruction sets Out and the internal
accumulator to InitialValue.
Default is cleared.
InitialValue REAL The initialize value of the instruction.
Valid = any float
Default = 0.0
InPlus REAL The input added to the accumulator.
Valid = any float
Default = 0.0
InMinus REAL The input subtracted from the
accumulator.
Valid = any float
Default = 0.0
Hold BOOL The hold input request for the
instruction. When Hold is set and
Initialize is cleared, Out is held.
Default is cleared.

Cleared to false if Out overflows.
Out REAL The output of the instruction.
Structured Text

UPDN tag UP_DOWN_ACCUM Structure UPDN structure

Chapter 2 Drives
Description
The UPDN instruction follows these algorithms.
Condition Action
Hold is cleared AccumValue n = AccumValue n-1 + InPlus - InMinus
and Out = AccumValue n
Initialize is
cleared
Hold is set and AccumValue n = AccumValue n-1
Initialize is Out = AccumValue n
cleared
Initialize is set AccumValue n = InitialValue
Out = AccumValue n
No
Major/Minor Faults

faults.
Execution
Function Block

Instruction first run Internal accumulator is set to zero.
Structured Text


Drives Chapter 2
Example
The UPDN instruction integrates counts from one scan to the next. This
instruction can be used for simple positioning applications or for other types of
applications where simple integration is required to create an accumulated value
from a process’s differentiated feedback signal. In the example below,
Initial_Position is set to zero, while Differential_Position_Plus and
Differential_Position_Minus take varying values over a period of time. With this
instruction, InPlus and InMinus could also accept negative values.
Function Block
The derivative instruction calculates the amount of change of a signal over time in
per-second units. This instruction is often used in closed loop control to create a

Chapter 2 Drives
feed forward path in the regulator to compensate for processes that have a high
degree of inertia.
Structured Text
UPDN_01.InitialValue := Initial_Position;
UPDN_01.InPlus := Differential_Position_Plus;
UPDN_01.InMinus := Differential_Position_Minus;
UPDN(UPDN_01);
Position_Integrated := UPDN_01.Out;
See also
HMI Button Control (HMIBC) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
Use the HMI Button Control (HMIBC) instruction with a PanelView 5500
Human Machine Interface (HMI) to enable operators to initiate machine control
operations, such as jogging a motor or enabling a valve, with a high degree of
accuracy and determinism. The HMIBC instruction also provides built-in
communications diagnostics that permit the instruction to automatically reset if
the communications from the controlling HMI become unavailable.
Each Logix controller supports up to 256 HMIBC tags and up to 32 PanelView

5500 HMI's to simultaneously communicate and control the instruction.The
HMIBC instruction goes active and enables its output when a PanelView 5500
HMI device initiates a button control operation associated with the instance tag of
the instruction.

Drives Chapter 2
Important: A PanelView 5500 module is required to use the HMIBC instruction.
To function, the Logix controller I/O configuration must include all of the
PanelView 5500 HMIs that need to interact with the HMIBC instruction.
Additionally, the application created for each PanelView 5500 HMI must include
button actions configured to reference each tag associated with the HMIBC
instructions.
Execute this instruction at least once per scan, and do not jump over.
The HMIBC data type:
• Is available at Controller and Program scope.

• Is not available within Add-On Instruction scope.
• Is used in a Jump to Subroutine (JSR).
• Cannot be used with input and output program parameters
• Is not available within a safety program.
• Must have an external access value of Read/Write. You are not given the
option to choose other external access values.
The HMIBC tag has import and export formats for .L5K, .L5X, and .CSV.
Available Language
Ladder Diagram

Chapter 2 Drives
Function Block
Tip: For the HMIBC tag, use only the Out parameter, and optionally, the ProgFB
parameter in Function Block diagrams.
Structured Text
HMIBC (HMIBC tag)
Operands
These operands are located on the instruction.

HMIBC tag HMIBC tag Goes active when the data bit is set
HMIBC Structure
Input parameter Data Type Description

execute.
Prog FB BOOL Program Feedback. This value is not processed by the
instruction, but transmitted to all registered HMI
devices. The purpose or meaning of this value is user
defined. For example, use this to determine if the
expected action actually executes when pressing the
button and displays that status on the HMI device.
Output parameter Data Type Description

Button State BOOL Cleared to false when no registered HMI device
buttons are pressed.
Set to true when at least one registered HMI button
is pressed.
Default value is false.

Drives Chapter 2
Output parameter Data Type Description

Out BOOL When EnableIn is true:
Cleared to false when none of the registered HMI
devices buttons are pressed.
Set to true when at least one registered HMI button
is pressed.
When EnableIn is false :
Cleared to false
Default value is false.
No
Major/Minor Faults
None specific to this instruction. See Index Through Arrays for array-indexing
faults.
Execution
Ladder Diagram

Prescan The rung-condition-out is set to false.
Rung-condition-in is false The rung-condition-out is set to false.
Rung-condition-in is true The rung-condition-out is set to true if any HMI device buttons
control operation associated with the instruction instance tag
are pressed. Otherwise, rung-condition-out is set to false.
Postscan The rung-condition-out is set to false.
Function Block

Prescan N/A
Tag.EnableIn is false The instruction does not execute.
Tag.EnableIn is true The instruction does not execute.
Postscan N/A
Structured Text

Prescan The instruction executes.
Normal Execution The instruction executes.

Chapter 2 Drives

Postscan The instruction executes.
Examples
Ladder Diagram
• An HMIBC instruction is an input instruction and cannot be placed on a

rung by itself.
• An HMIBC instruction is highlighted when active.
Function Block
The following example shows the HMIBC instruction as it appears in a function

block diagram.

Drives Chapter 2
Structured Text
HMIBC (HMIBC_Conv);
IF(((Auto AND Run_Conv) Or (NOT Auto AND HMIBC_Conv.Out)) AND

NOT Conv_Fault)
THEN Conv_Motor: = 1;
ELSE Conv_Motor : = 0;
END_IF;
See also

Chapter 3
Filter
Filter Instructions The Filter instructions include these instructions:
Ladder Diagram
This instruction is not available in Ladder Diagram
DERV HPF LDL2 LPF NTCH

Calculate the amount of change of a signal over time in DERV
per-second units.
Filter input frequencies that are below the cutoff frequency. HPF
Filter with a pole pair and a zero pair. LDL2
Filter input frequencies that are above the cutoff frequency. LPF
Filter input frequencies that are at the notch frequency. NTCH
See also

Chapter 3 Filter
Derivative (DERV) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The DERV instruction calculates the amount of change of a signal over time in
per-second units.
Available Languages
Ladder Diagram
This instruction is not available for ladder diagram.
Function Block
Structured Text
DERV(DERV_tag);
Operands
Function Block

DERV tag DERIVATIVE structure DERV structure

Filter Chapter 3
DERIVATIVE Structure

Default is true.
Valid = any float
Default = 0.0
Gain REAL Derivative multiplier
Valid = any float
Default = 1.0
ByPass BOOL Request to bypass the algorithm. When
ByPass is true, the instruction sets Out = In.
Default is false.
0 = periodic mode
1 = oversampling mode
see Function Block Attributes
Valid = 0 to 2
Default = 0
Default = 0
mode
Default = 1
sampling mode.
Default = 0

(Status.27) For more information about timing modes,

Chapter 3 Filter
true when
ABS (DeltaT - RTSTime) > 1 millisecond.
(Status.30)
Structured Text

DERV tag DERIVATIVE structure DERV structure
Description
The DERV instruction supports a bypass input that lets you stop calculating the
derivative and pass the signal directly to the output.
When Bypass is The instruction uses this equation

Cleared and DeltaT > 0

Set
No
Major/Minor Faults

faults.

Filter Chapter 3
Execution
Function Block

Structured Text: NA
Instruction first scan Recalculate coefficients.
Structured Text

Examples
This example is the minimal legal programming of the DERV function block and
is only used to show the neutral text and generated code for this instruction.
This is for internal purposes only and is not a testable case.
Function Block

Chapter 3 Filter
Structured Text
DERV_01.In := Speed_Reference;
DERV_01.Gain := Feedforward_Gain;
DERV(DERV_01);
PI_01.In := Speed_Reference - Speed_feedback;

PI_01.Kp := Proportional_Gain;
PI_01.Wld := Integral_Gain;
PI(PI_01);
regulator_out := DERV_01.Out + PI_01.Out;
See also
High Pass Filter (HPF) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The HPF instruction provides a filter to attenuate input frequencies that are
below the cutoff frequency.
Available Languages
Ladder Diagram
Function Block
Structured Text
HPF(HPF_tag);

Filter Chapter 3
Operands
Function Block

HPF tag FILTER_HIGH_PASS structure HPF structure

Default is true.
Valid = any float
Default = 0.0
Initialize BOOL Request to initialize filter control algorithm.
When true, the instruction sets Out = In.
Default is false.
WLead REAL The lead frequency in radians/second. If WLead <
minimum or WLead > maximum, the instruction
sets the appropriate bit in Status and limits
WLead.
Valid = see Description section below for valid
ranges.
Default = 0.0
Order REAL Order of the filter. Order controls the sharpness of
the cutoff. If Order is invalid, the instruction sets
the appropriate bit in Status and uses Order = 1.
Valid = 1 to 3
Default = 1
Default = 0
mode
Default = 1
RTSTimeStamp DINT Module time stamp value for real time sampling
mode.
Default = 0

Chapter 3 Filter

if Out overflows.

WLeadInv (Status.1) BOOL WLead < minimum value or WLead > maximum
value.
OrderInv (Status.2) BOOL Invalid Order value.
(Status.27) For more information about timing modes, see
RTSMissed (Status.28) BOOL Only used in real time sampling mode. Set to true
when
(Status.30)
Structured Text

HPF tag FILTER_HIGH_PASS Structure HPF structure

Filter Chapter 3
Description
The HPF instruction uses the Order parameter to control the sharpness of the
cutoff. The HPF instruction is designed to execute in a task where the scan rate
remains constant.
The HPF instruction uses these equations:
When: The instruction uses this transfer function:

Order = 1
Order = 2
Order = 3
with these parameter limits (where DeltaT is in seconds):
WLead first order
LowLimit
WLead second order
LowLimit
WLead third order
LowLimit
HighLimit
instruction sets Out = the invalid value. When the value computed for the output
becomes valid, the instruction initializes the internal parameters and sets Out =
In.
No
Major/Minor Faults

faults.

Chapter 3 Filter
Execution
Function Block

Tag.EnableIn is true EnableIn and EnableOut are set to true.
Structured Text

Example
The HPF instruction attenuates signals that occur below the configured cutoff
frequency. This instruction is typically used to filter low frequency "noise" or
disturbances that originate from either electrical or mechanical sources. You can
select a specific order of the filter to achieve various degrees of attenuation. Note
that higher orders increase the execution time for the filter instruction.
The following graphs illustrate the effect of the various orders of the filter for a
given cutoff frequency. For each graph, ideal asymptotic approximations are given
with gain and frequency in logarithmic scales. The actual response of the filter
approaches these curves but does not exactly match these curves.

Filter Chapter 3
This example is the minimal legal programming of the HPF function block and is
only used to show the neutral text and generated code for this instruction. This is
for internal purposes only and is not a testable case.
Filter Graph
1st order filter
2nd order filter
3rd order filter
Function Block
Structured Text
HPF_01.In := Velocity_Feedback;
HPF_01.WLead := Cutoff_frequency;
HPF_01.Order := 2;
HPF(HPF_01);
filtered_velocity_output := HPF_01.Out
See also

Chapter 3 Filter
Low Pass Filter (LPF) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The LPF instruction provides a filter to attenuate input frequencies that are above
the cutoff frequency.
Available Languages
Ladder Diagram
Function Block
Structured Text
LPF(LPF_tag);
Operands
Function Block

LPF tag FILTER_LOW_PASS Structure LPF structure

Filter Chapter 3
FILTER_LOW_PASS Structure

Default is true.
Valid = any float
Default = 0.0
Initialize BOOL Request to initialize filter control algorithm.
When true, the instruction sets Out = In.
Default is false.
WLag REAL The lag frequency in radians/second. If WLag

< minimum or WLag > maximum, the
instruction sets the appropriate bit in Status
and limits WLag.
Valid = see Description section below for valid
ranges
Default = 0.0
Order REAL Order of the filter. Order controls the
sharpness of the cutoff. If Order is invalid, the
instruction sets the appropriate bit in Status
and uses Order = 1.
Valid = 1 to 3
Default = 1
0 = Period mode
1 = Oversample mode
2 = Real-time sampling mode
Valid = 0 to 2
Default = 0
Default = 0
mode
Default = 1
sampling mode.
Default = 0

Chapter 3 Filter

EnableOut BOOL Indicates if instruction is enabled Cleared to
WLagInv (Status.1) BOOL WLag < minimum value or WLag > maximum
value.
true when
Structured Text

LPF tag FILTER_LOW_PASS structure LPF structure
Description
The LPF instruction uses the Order parameter to control the sharpness of the
cutoff. The LPF instruction is designed to execute in a task where the scan rate
remains constant.

Filter Chapter 3
The LPF instruction uses these equations:
When: The instruction uses this Laplace transfer function:

Order = 1
Order = 2
Order = 3
with these parameters limits (where DeltaT is in seconds):
WLag first order
LowLimit
WLag second order

LowLimit
WLag third order
LowLimit
HighLimit
In.
Controllers Affects Math Status Flags

ControlLogix 5580 No
CompactLogix 5370, ControlLogix Yes for the output
5570
Major/Minor Faults

faults.

Chapter 3 Filter
Execution
Function Block

Structured Text

Example
The LPF instruction attenuates signals that occur above the configured cutoff
frequency. This instruction is typically used to filter out high frequency "noise" or
disturbances that originate from either electrical or mechanical sources. You can
select a specific order of the filter to achieve various degrees of attenuation. Note
that higher orders increase the execution time for the instruction.
The following graphs illustrate the effect of the various orders of the filter for a
given cutoff frequency. For each graph, ideal asymptotic approximations are given
with gain and frequency in logarithmic scales. The actual response of the filter
approaches these curves but does not exactly match these curves.

Filter Chapter 3
This example is the minimal legal programming of the LPF function block and is
only used to show the neutral text and generated code for this instruction. This
Filter Graph
1st order filter
2nd order filter
3rd order filter
Function Block

Chapter 3 Filter
Structured Text
LPF_01.In := Velocity_Feedback;
LPF_01.WLag := Cutoff_frequency;
LPF(LPF_01);
filtered_velocity_output := LPF_01.Out;
See also
Notch Filter (NTCH) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The NTCH instruction provides a filter to attenuate input frequencies that are at
the notch frequency.
Available Languages
Ladder Diagram
Function Block
Structured Text
NTCH(NTCH_tag);

Filter Chapter 3
Operands
Function Block

NTCH tag FILTER_NOTCH Structure NTCH structure
FILTER_NOTCH Structure

updated.
Default is true.
Valid = any float
Default = 0.0
Initialize BOOL Request to initialize filter control algorithm. When true, the instruction sets Out
= In.
Default is false.
WNotch REAL The filter center frequency in radians/second. If WNotch < minimum or
WNotch > maximum, the instruction sets the appropriate bit in status and
limits WNotch.
Valid = see Description section below for valid ranges
QFactor REAL Controls the width and depth ratio. Set QFactor = 1 / (2*desired damping
factor). If QFactor < minimum or QFactor > maximum value, the instruction
sets the appropriate bit in Status and limits QFactor.
Valid = 0.5 to 100.0
Default = 0.5
Order REAL Order of the filter. Order controls the sharpness of the cutoff. If Order is invalid,
the instruction sets the appropriate bit in Status and uses Order = 2.
Valid = 2 or 4
Default = 2
0 = Periodic mode
1 = Oversample mode
2 = Real time sampling mode2
Valid = 0 to 2
Default = 0
Default = 0
Default = 1
Default = 0

Chapter 3 Filter

EnableOut BOOL Indicates if instruction is enabled. Cleared to false if Out
overflows.
output.
This is not a minor or major controller error. Check the
remaining status bits to determine what occurred.
WNotchInv (Status.1) BOOL WNotch < minimum or WNotch > maximum
QFactorInv (Status.2) BOOL QFactor < minimum or QFactor > maximum
Attributes.
RTSMissed (Status.28) BOOL Only used in real time sampling mode. Set to true when
Structured Text

NTCH tag FILTER_NOTCH structure NTCH structure
Description
The NTCH instruction uses the Order parameter to control the sharpness of the
cutoff. The QFactor parameter controls the width and the depth ratio of the
notch. The NTCH instruction is designed to execute in a task where the scan rate
remains constant.
The NTCH instruction uses this equation:
where i is the Order operator with these parameters limits (where DeltaT is in
seconds):

Filter Chapter 3
WNotch second order
LowLimit
WNotch fourth order

LowLimit
HighLimit
QFactor LowLimit = 0.5

HighLimit = 100.0
In.
No
Major/Minor Faults

faults.
Execution
Function Block

Structured Text


Chapter 3 Filter
Example
The NTCH instruction attenuates a specific resonance frequency. Typically, these

resonance frequencies are directly in the range of response being regulated by the
closed loop control system. Often, they are generated by loose mechanical linkages
that cause backlash and vibration in the system. Although the best solution is to
correct the mechanical compliance in the machinery, the notch filter can be used
to soften the effects of these signals in the closed loop regulating scheme.
The following diagram shows the ideal gain curve over a frequency range for a
specific center frequency and Q factor. As increases, the notch becomes wider and
shallower. As decreases; the notch becomes deeper and narrower. The instruction
may be set for an order of 2 or an order of 4. Higher orders take more execution
time.
This example is the minimal legal programming of the NTCH function block and
is only used to show the neutral text and generated code for this instruction. This
Function Block

Filter Chapter 3
Structured Text
NTCH_01.In := frequency_input;
NTCH_01.WNotch := center_frequency;
NTCH_01.QFactor := Notch_width_depth;
NTCH(NTCH_01);
Notch_output := NTCH_01.Out;
See also
Second-Order Lead Lag This information applies to the CompactLogix 5370, ControlLogix 5570,
(LDL2) CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The LDL2 instruction provides a filter with a pole pair and a zero pair. The
frequency and damping of the pole and zero pairs are adjustable. The pole or zero
pairs can be either complex (damping less than unity) or real (damping greater
than or equal to unity).
Available Languages
Ladder Diagram
Function Block
Structured Text
LDL2(LDL2_tag);

Chapter 3 Filter
Operands
Function Block

LDL2 tag LEAD_LAG_SEC_ORDER Structure LDL2 structure
LEAD_LAG_SEC_ORDER Structure

are not updated.
Default is true.
Valid = any float
Default = 0.0
Initialize BOOL Request to initialize filter control algorithm. When true, the
instruction sets Out = In.
Default is cleared.
WLead REAL The lead corner frequency in radians/second. If WLead < minimum
or WLead > maximum, the instruction sets the appropriate bit to
true in Status and limits WLead. If the WLag:WLead ratio >
maximum ratio, the instruction sets the appropriate bit in Status to
true and limits WLag
Valid = see Description section below for valid ranges.
Default = 0.0
WLag REAL The lag corner frequency in radians/second. If WLag < minimum or
WLag > maximum, the instruction sets the appropriate bit to true in
Status and limits WLag. If the WLag:WLead ratio > maximum ratio,
the instruction sets the appropriate bit to true in Status and limits
WLag.
Valid = see Description section below for valid ranges
Default = 0.0
ZetaLead REAL Second order lead damping factor. Only used when Order = 2. If
ZetaLead < minimum or ZetaLead > maximum, the instruction sets
the appropriate bit to true in Status and limits ZetaLead.
Valid = 0.0 to 4.0
Default = 0.0
ZetaLag REAL Second order lag-damping factor. Only used when Order = 2. If
ZetaLag < minimum or ZetaLag > maximum, the instruction sets
the appropriate bit to true in Status and limits ZetaLag.
Valid = 0.05 to 4.0
Default = 0.05
Order REAL Order of the filter. Selects the first or second order filter algorithm. If
invalid, the instruction sets the appropriate bit to true in Status and
uses Order = 2.
Valid = 1 to 2
Default = 2

Filter Chapter 3

0 = Periodic mode
1 = Oversample mode
Valid = 0 to 2
Default = 0
Default = 0

Out REAL The calculated output of the
algorithm.
DeltaT REAL Elapsed time between updates.
This is the elapsed time in seconds
used by the control algorithm to
calculate the process output.
InstructFault (Status.0) BOOL The instruction detected one of the
following execution errors. This is
not a minor or major controller
error. Check the remaining status
WLeadInv (Status.1) BOOL WLead < minimum value or
WLead > maximum value.
WLagInv (Status.2) BOOL WLag < minimum value or WLag
> maximum value.
ZetaLeadInv (Status.3) BOOL Lead damping factor < minimum
value or lead damping factor >
maximum value.
ZetaLagInv (Status.4) BOOL Lag damping factor < minimum
value or lag damping factor >
maximum value.
WLagRatioInv (Status.6) BOOL WLag:WLead ratio greater than
maximum value.
For more information about timing
modes, see Function Block
Attributes.
RTSMissed (Status.28) BOOL Only used in real time sampling
mode. Set when
ABS (DeltaT - RTSTime) > 1
millisecond.

Chapter 3 Filter
Structured Text

LDL2 tag LEAD_LAG_SEC_ORDER structure LDL2 structure
Description
The LDL2 instruction filter is used in reference forcing and feedback forcing
control methodologies. The LDL2 instruction is designed to execute in a task
where the scan rate remains constant.
The LDL2 instruction uses these equations:
When: The instruction uses this Laplace transfer function:

Order = 1
Order = 2
with these parameter limits (where DeltaT is in seconds):
WLead first order
LowLimit
WLead second order

LowLimit
HighLimit

Filter Chapter 3
WLead:WLag ratio If WLead > WLag, no limitations

If WLag > WLead:
• No minimum limitation for WLag:WLead
• First order maximum for WLag:WLead = 40:1 and the
instruction limits WLag to enforce this ratio
• Second order maximum for WLag:WLead = 10:1 and the
instruction limits WLag to enforce this ratio
ZetaLead second order only LowLimit = 0.0
HighLimit = 4.0
ZetaLag second order only LowLimit = 0.05
HighLimit = 4.0
In.
No
Major/Minor Faults

faults.
Execution
Function Block

Structured Text


Chapter 3 Filter
Example
The LDL2 instruction can attenuate between two frequencies or can amplify
between two frequencies, depending on how you configure the instruction. Since
the Lead and Lag frequencies can be set to values that are larger or smaller than
each other, this instruction may behave as a Lead-Lag block, or, as a Lag-Lead
block, depending on which frequency is configured first. Note that higher orders
increase the execution time for the filter instruction.
This example is the minimal legal programming of the LDL2 function block and is
only used to show the neutral text and generated code for this instruction. This
Filter Graph
1st order lead-lag
(wLead < wLag)
2nd order lead-lag

(wLead < wLag)
1st order lead-lag

(wLag < wLead)
2nd order lead-lag

(wLag < wLead)

Filter Chapter 3
Function Block
Structured Text
LDL2_01.In := frequency_input;
LDL2_01.WLead :=
Lead_frequency;
LDL2_01.WLag := Lag_frequency;
LDL2(LDL2_01);
Lead_lag_output := LDL2_01.Out;
See also

Chapter 4
Select_Limit
Select/Limit Instructions The Select/Limit instructions include these instructions:
Ladder Diagram
This instruction is not available in Ladder Diagram.
ESEL HLL MUX RLIM SEL SNEG SSUM

Select one of as many as six inputs. ESEL
Limit an analog input between two values. HLL
Select one of eight inputs. MUX
Limit the amount of change of a signal over time. RLIM
Select one of two inputs. SEL
Select between the input value and the negative of the input value. SNEG
Select real inputs to be summed. SSUM
See also

Chapter 4 Select_Limit Instructions
Enhanced Select (ESEL) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The ESEL instruction lets you select one of as many as six inputs. Selection
options include:
• Manual select (by operator or by program)

• High select
• Low select
• Median select
• Average (mean) select
Available Languages
Ladder Diagram
Function Block
Structured Text
ESEL(ESEL_tag);

Select_Limit Instructions Chapter 4
Operands
Function Block

ESEL tag SELECT_ENHANCED Structure ESEL structure
SELECT_ENHANCED Structure

Default is true.
In1 REAL The first analog signal input to the instruction.
Valid = any float
Default = 0.0
In2 REAL The second analog signal input to the
instruction.
Valid = any float
Default = 0.0
In3 REAL The third analog signal input to the instruction.
Valid = any float
Default = 0.0
In4 REAL The fourth analog signal input to the
instruction.
Valid = any float
Default = 0.0
In5 REAL The fifth analog signal input to the instruction.
Valid = any float
Default = 0.0
In6 REAL The sixth analog signal input to the instruction.
Valid = any float
Default = 0.0
In1Fault BOOL Bad health indicator for In1. If In1 is read from
an analog input, then In1Fault is normally
controlled by the fault status on the analog
input. If all the InnFault inputs are true, the
instruction sets the appropriate bit in Status,
the control algorithm is not executed, and Out
is not updated.
Default = false
is not updated.
Default = false

is not updated.
Default = false
is not updated.
Default = false
is not updated.
Default = false
is not updated.
Default = false
InsUsed DINT Number of inputs used. This defines the
number of inputs the instruction uses. The
instruction considers only In1 through In InsUsed
in high select, low select, median select, and
average select modes. If this value is invalid,
status. The instruction does not update Out if
InsUsed is invalid and if the instruction is not in
manual select mode and if Override is cleared.
Valid =1 to 6
Default = 1
Selector Mode DINT Selector mode input. This value determines the
action of the instruction.
0 = manual select
1 = High select
2 = Low select
3 = Median select
4 = Average select
If this value is invalid, the instruction sets the
appropriate bit in Status and does not update
Out.
Valid = 0 to 4
Default = 0

ProgSelector DINT Program selector input. When the selector

mode is manual select and the instruction is in
Program control, ProgSelector determines
which input (In1-In6) to move into Out. If
ProgSelector = 0, the instruction does not
update Out. If ProgSelector is invalid, the
instruction sets the appropriate bit in Status. If
invalid and the instruction is in Program
control, and the selector mode is manual select
or Override is set, the instruction does not
update. Out.
Valid = 0 to 6
Default = 0
OperSelector DINT Operator selector input. When the selector
mode is manual select and the instruction is in
Operator control, OperSelector determines
which input (In1-In6) to move into Out. If
OperSelector = 0, the instruction does not
update Out. If OperSelector is invalid, the
instruction sets the appropriate bit in Status. If
invalid and the instruction is in Operator
control, and the selector mode is manual select
or Override is set, the instruction does not
update Out.
Valid = 0 to 6
Default = 0
ProgProgReq BOOL Program program request. Set to true by the
user program to request Program control.
Ignored if ProgOperReq is true. Holding this
true and ProgOperReq false locks the
instruction into Program control.
Default is false.
ProgOperReq BOOL Program operator request. Set to true by the
user program to request Operator control.
Holding this true locks the instruction into
Operator control.
Default is false.
ProgOverrideReq BOOL Program override request. Set to true by the
user program to request the device to enter
Override mode. In Override mode, the
instruction will act as a manual select.
Default is false.
OperProgReq BOOL Operator program request. Set to true by the
operator interface to request Program control.
Default is false.
OperOperReq BOOL Operator operator request. Set to true by the
operator interface to request Operator control.
Default is false.
ProgValueReset BOOL Reset program control values. When true, all
the program request inputs are cleared to false
on each execution of the instruction.
Default is false.


SelectedIn DINT Number of input selected. The instruction uses
this value to display the number of the input
currently being placed into the output. If the
selector mode is average select, the instruction
sets SelectedIn = 0.
ProgOper BOOL Program/Operator control indicator. Set to true
when in Program control. Cleared to false when
in Operator control.
Override BOOL Override mode. Set to true when the instruction
is in Override mode.
InsFaulted (Status.1) BOOL InnFault inputs for all the used Inn inputs are
true.
InsUsedInv (Status.2) BOOL Invalid InsUsed value.
SelectorModeInv (Status.3) BOOL Invalid SelectorMode value.
ProgSelectorInv (Status.4) BOOL Invalid ProgSelector value.
OperSelectorInv (Status.5) BOOL Invalid OperSelector value.
Structured Text

ESEL tag SELECT_ENHANCED structure ESEL structure

Description
The ESEL instruction operates as follows
Condition Action
SelectorMode = 0 (manual select) or Out = In[OperSelector]
Override is true, ProgOper is false and SelectedIn = OperSelector
OperSelector is not equal to 0
SelectorMode = 0 (manual select) or Out = In[ProgSelector]
Override is true, ProgOper is true and SelectedIn = ProgSelector
ProgSelector is not equal to 0
SelectorMode = 1 (high select) and Out = maximum of In[InsUsed]
Override is false SelectedIn = index to the maximum input value
SelectorMode = 2 (low select) and Out = minimum of In[InsUsed]
Override is false SelectedIn = index to the minimum input value
SelectorMode = 3 (median select) and Out = median of In[InsUsed]
Override is false SelectedIn = index to the median input value
SelectorMode = 4 (average select) and Out = average of In[InsUsed]
Override is false SelectedIn = 0
For SelectorMode 1 through 4, a bad health indication for any of the inputs causes
that bad input to be disregarded in the selection. For example, if SelectorMode = 1
(high select) and if In6 had the highest value but had bad health, then the next
highest input with good health is moved into the output.
For high or low select mode, if two inputs are equal and are high or low, the
instruction outputs the first found input. For median select mode, the median
value always represents a value selected from the available inputs. If more than one
value could be the median, the instruction outputs the first found input.
The following diagram shows how the ESEL instruction changes between
(1) You can lock the instruction in Operator control mode by leaving
ProgOperReq true.

(2) You can lock the instruction in Program control mode by leaving
ProgProgReq true while ProgOperReq is false.
No
Major/Minor Faults

faults.
Execution
Function Block

The instruction executes
Instruction first run The instruction is set to Operator control.
Structured Text

Example
This ESEL instruction selects In1, In2, or In3, based on the SelectorMode. In this
example, SelectorMode = 1, which means high select. The instruction determines
which input value is the greatest and sets Out = greatest In.

Function Block
Structured Text
ESEL_01.In1 := analog_input1;
ESEL_01.SelectorMode := 1;
ESEL(ESEL_01);
selected_value := ESEL_01.Out;
See also
High/Low Limit (HLL) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The HLL instruction limits an analog input between two values. You can select
high/low, high, or low limits.

Available Languages
Ladder Diagram
Function Block
Structured Text
HLL(HLL_tag);
Operands
Function Block

HLL tag HL_LIMIT structure HLL structure

HL_LIMIT Structure

are not updated.
Default is true.
Valid = any float
Default = 0.0
HighLimit REAL The high limit for the Input. If SelectLimit = 0 and HighLimit
LowLimit, the instruction sets the appropriate bit in Status and sets
Out = LowLimit.
Valid = HighLimit > LowLimit
Default = 0.0
LowLimit REAL The low limit for the Input. If SelectLimit = 0 and LowLimit
HighLimit, the instruction sets the appropriate bit in Status and
sets Out = LowLimit.
Valid = LowLimit < HighLimit
Default = 0.0
SelectLimit DINT Select limit input. This input has three settings:
0 = Use both limits
1= Use high limit
2 = Use low limit
If SelectLimit is invalid, the instruction assumes SelectLimit = 0
Valid = 0 to 2
Default = 0


HighAlarm BOOL The high alarm indicator. Set to true when In HighLimit. The
HighAlarm is disabled when SelectLimit is set to 2.
LowAlarm BOOL The low alarm indicator. Set to true when In LowLimit. The
LowAlarm is disabled when SelectLimit is set to 1.
InstructFault (Status.0) BOOL The instruction detected one of the following execution errors. This
is not a minor or major controller error. Check the remaining status
LimitsInv (Status.1) BOOL HighLimit LowLimit.
SelectLimitInv (Status.2) BOOL The value of SelectLimit is not a 0, 1, or 2.

Structured Text

HLL tag HL_LIMIT structure HLL structure
Description
The HLL instruction determines the value of the Out using these rules:
Selection Condition Action

SelectLimit = 0 In < HighLimit and Out = In
(use high and low limits) In > LowLimit
In HighLimit Out = HighLimit
In LowLimit Out = LowLimit
SelectLimit = 1 In < HighLimit Out = In
(use high limit only)
In HighLimit Out = HighLimit
SelectLimit = 2 In > LowLimit Out = In
(use low limit only)
In LowLimit Out = LowLimit
No
Major/Minor Faults

faults.
Execution
Function Block


Structured Text

Example
This HLL instruction limits In between two values and sets HighAlarm or
LowAlarm, if needed when In is outside the limits. The instruction sets Out =
limited value of In.
Function Block
Structured Text
HLL_01.In := value;
HLL_01.HighLimit := high_limit;
HLL_01.LowLimit := low_limit;
HLL(HLL_01);
limited_value := HLL_01.Out;
high_alarm := HLL_01.HighAlarm;
low_alarm := HLL_01.LowAlarm;
See also

Multiplexer (MUX) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The MUX instruction selects one of eight inputs based on the selector input.
Available Languages
Ladder Diagram
Function Block
Structured Text
Operands
Function Block

Block tag MULTIPLEXER Structure MUX structure

MUX Structure

EnableIn BOOL Enable input. If cleared, the instruction does
Default is set.
In1 REAL The first analog signal input to the
instruction.
Valid = any float
Default = 0.0
In2 REAL The second analog signal input to the
instruction.
Valid = any float
Default = 0.0
In3 REAL The third analog signal input to the
instruction.
Valid = any float
Default = 0.0
In4 REAL The fourth analog signal input to the
instruction.
Valid = any float
Default = 0.0
In5 REAL The fifth analog signal input to the
instruction.
Valid = any float
Default = 0.0
In6 REAL The sixth analog signal input to the
instruction.
Valid = any float
Default = 0.0
In7 REAL The seventh analog signal input to the
instruction.
Valid = any float
Default = 0.0
In8 REAL The eighth analog signal input to the
instruction.
Valid = any float
Default = 0.0
Selector DINT The selector input to the instruction. This
input determines which of the inputs (1-8) is
moved into Out. If this value is invalid (which
includes 0), the instruction sets the
appropriate bit in Status and holds Out at its
current value.
Valid = 1 to 8
Default = 0


EnableOut BOOL Indicates if the instruction is enabled.
Cleared on overflow.
Out REAL The selected output of the algorithm. Math
status flags are set for this output.
SelectorInv (Status.1) BOOL Invalid Selector value.
Description
Based on the Selector value, the MUX instruction sets Out equal to one of eight
inputs.
No
Major/Minor Faults

faults.
Execution
Function Block
Condition Action

Instruction first scan Set internal value of Out to zero.

Example
Function Block
This MUX instruction selects In1, In2, or In3, In4, In5, In6, In7, or In8 based on
the Selector. The instruction sets Out = In n , which becomes an input parameter
for function_block_C. For example, if select_value = 2, the instruction sets Out =
analog_input2.
See also
Rate Limiter (RLIM) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The RLIM instruction limits the amount of change of a signal over time.
Available Languages
Ladder Diagram

Function Block
Structured Text
RLIM(RLIM_tag);
Operands
Function Block

RLIM tag RATE_LIMITER structure RLIM structure
RATE_LIMITER Structure

Default is true.
Valid = any float
Default = 0.0
IncRate REAL Maximum output increment rate in per-
second units. If invalid, the instruction sets
IncRate = 0.0 and sets the appropriate bit
in Status.
Default = 0.0
DecRate REAL Maximum output decrement rate in per-
second units. If invalid, the instruction sets
DecRate = 0.0 and sets the appropriate bit
in Status.
Default = 0.0
ByPass BOOL Request to bypass the algorithm. When
true, Out = In.
Default is false.


0 = Period mode
1 = oversample mode
Valid = 0 to 2
Default = 0

Default = 0
RTSTime DINT Module update period for real time
sampling mode
Default = 1
sampling mode.
Default = 0

Parameter
to false if Out overflows.
InstructFault BOOL The instruction detected one of the
(Status.0) following execution errors. This is not a
minor or major controller error. Check the
remaining status bits to determine what
occurred.
IncRateInv BOOL IncRate < 0. The instruction uses 0.
(Status.1)
DecRateInv BOOL DecRate < 0. The instruction uses 0.
(Status.2)
(Status.27) For more information about timing modes,
RTSMissed BOOL Only used in real time sampling mode. Set
(Status.28) to true when
(Status.29)
(Status.30)
DeltaTInv BOOL Set to true in oversample mode if either
(Status.31) DeltaT <= 0 or DeltaT > 4194.303.

Structured Text

RLIM tag RATE_LIMITER structure RLIM structure
Description
The RLIM instruction provides separate increment and decrement rates in per-
second units. The ByPass input lets you stop rate limiting and pass the signal
directly to the output.
Condition Action
ByPass is true Out n = In n
Out n-1 = In n
ByPass is false and
DeltaT > 0
No
Major/Minor Faults

faults.

Execution
Function Block

Tag.EnableIn is true EnableIn and EnableOut bits are set to true
Instruction first scan Initialize Out with the value of In.

Structured Text

Example
Function Block
The RLIM instruction limits In by IncRate. If analog_input1 changes at a rate

greater than the IncRate value, the instruction limits In. The instruction sets Out
= rate limited value of In.
Structured Text
RLIM_01.In := analog_input1;
RLIM_01.IncRate := value;
RLIM(RLIM_01);
rate_limited := RLIM_01.Out;
See also

Select (SEL) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The SEL instruction uses a digital input to select one of two inputs.
Available Languages
Ladder Diagram
Function Block
Structured Text
This instruction is not available in structured text.
Operands
Function Block

SEL tag SELECT structure SEL structure

SELECT Structure

EnableIn BOOL Enable input. If cleared, the
instruction does not execute and
Default is set.
In1 REAL The first analog signal input to the
instruction.
Valid = any float
Default = 0.0
In2 REAL The second analog signal input to
the instruction.
Valid = any float
Default = 0.0
SelectorIn BOOL The input that selects between In1
and In2.
Default is cleared.

Parameter
Cleared on overflow.
Out REAL The calculated output of the
algorithm.
Description
The SEL instruction operates as follows:
Condition Action
SelectorIn is set Out = In2
SelectorIn is cleared Out = In1
No
Major/Minor Faults

faults.

Execution
Function Block

Prescan EnableIn and EnableOut bits are cleared to
false.
Tag.EnableIn is false EnableIn and EnableOut bits are cleared to
false.
Instruction first scan Out n-1 is set to 0.
Postscan N/A
Example
The SEL instruction selects In1 or In2 based on SelectorIn. If SelectorIn is set, the
instruction sets Out = In2. If SelectorIn is cleared, the instruction sets Out = In1.
Out becomes an input parameter for function_block_C.
Function Block
See also

Selected Negate (SNEG) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The SNEG instruction uses a digital input to select between the input value and
the negative of the input value.
Available Languages
Ladder Diagram
Function Block
Structured Text
SNEG(SNEG_tag);
Operands
Function Block

SNEG tag SELECTABLE_NEGATE Structure SNEG structure

SNEG Structure
EnableIn BOOL Enable input. If false, the instruction

updated.
Default is true.
Structured Text:
No effect. The instruction executes.
In REAL The analog signal input to the
instruction.
Valid = any float
Default = 0.0
NegateEnable BOOL Negate enable. When NegateEnable is
true, the instruction sets Out to the
negative value of In.
Default is true.

Parameter
Structured Text

SNEG tag SELECTABLE_NEGATE Structure SNEG structure
Description
The SNEG instruction operates as follows:
Condition Action
NegateEnable is true Out = - In
NegateEnable is false Out = In
No
Major/Minor faults

faults.

Execution
Function Block

Structured Text

Example
The negate_enable input determines whether to negate In or not. The instruction

sets Out = In if NegateEnable is false. The instruction sets Out = -In if
NegateEnable is true.
Function Block
Structured Text
SNEG_01.In := analog_input1;
SNEG_01.NegateEnable := negate_enable;
SNEG(SNEG_01);
output_value := SNEG_01.Out;

See also
Selected Summer (SSUM) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The SSUM instruction uses Boolean inputs to select real inputs to be algebraically
summed.
Available Languages
Ladder Diagram
Function Block
Structured Text
SSUM(SSUM_tag);
Operands
Function Block

SSUM tag SELECTED_SUMMER Structure SSUM structure

SELECTABLE_SUMMER Structure

Default is true.
In1 REAL The first input to be summed.
Valid = any float
Default = 0.0
Gain1 REAL Gain for the first input.
Valid = any float
Default = 1.0
Select1 BOOL Selector signal for the first input.
Default is false.
In2 REAL The second input to be summed.
Valid = any float
Default = 0.0
Gain2 REAL Gain for the second input.
Valid = any float
Default = 1.0
Select2 BOOL Selector signal for the second input.
Default is false.
In3 REAL The third input to be summed.
Valid = any float
Default = 0.0
Gain3 REAL Gain for the third input.
Valid = any float
Default = 1.0
Select3 BOOL Selector signal for the third input.
Default is false.
In4 REAL The fourth input to be summed.
Valid = any float
Default = 0.0
Gain4 REAL Gain for the fourth input.
Valid = any float
Default = 1.0
Select4 BOOL Selector signal for the fourth input.
Default is false.
In5 REAL The fifth input to be summed.
Valid = any float
Default = 0.0
Gain5 REAL Gain for the fifth input.
Valid = any float
Default = 1.0
Select5 BOOL Selector signal for the fifth input.
Default is false.
In6 REAL The sixth input to be summed.
Valid = any float
Default = 0.0

Gain6 REAL Gain for the sixth input.

Valid = any float
Default = 1.0
Select6 BOOL Selector signal for the sixth input.
Default is false.
In7 REAL The seventh input to be summed.
Valid = any float
Default = 0.0
Gain7 REAL Gain for the seventh input.
Valid = any float
Default = 1.0
Select7 BOOL Selector signal for the seventh input.
Default is false.
In8 REAL The eighth input to be summed.
Valid = any float
Default = 0.0
Gain8 REAL Gain for the eighth input.
Valid = any float
Default = 1.0
Select8 BOOL Selector signal for the eighth input.
Default is false.
Bias REAL Bias signal input. The instruction adds the
Bias to the sum of the inputs.
Valid = any float
Default = 0.0

Parameter
to false if Out overflows.
Structured Text

SSUM tag SELECTED_SUMMER Structure SSUM structure
Description
The SSUM instruction operates as follows:
Condition Action
No In is selected Out = Bias
One or more In are selected For all n where Selectn is true
Out = ∑ (In n x Gain n ) + Bias

No
Major/Minor Faults

faults.
Execution
Function Block



Structured Text

Example
The values of select1 and select 2 determine whether to select analog_input1 and
analog_input2, respectively. The instruction then adds the selected inputs and
places the result in Out.

Function Block
Structured Text
SSUM_01.In1 := analog_input1;
SSUM_01.Select1 := select1;
SSUM_01.In2 := analog_input2;
SSUM_01.Select2 := select2;
SSUM(SSUM_01);
selected_add := SSUM_01.Out;
See also

Chapter 5
Statistical
Statistical Instructions The Statistical instructions include these instructions:
Ladder Diagram
Not available
MAVE MAXC MINC MSTD

Calculate a time average value. MAVE
Find the maximum signal in time. MAXC
Find the minimum signal in time. MINC
Calculate a moving standard deviation. MSTD
See also

Chapter 5 Statistical Instructions
Moving Average (MAVE) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The MAVE instruction calculates a time average value for the In signal. This
instruction optionally supports user-specified weights.
Available Languages
Ladder Diagram
Function Block
Structured Text
MAVE(MAVE_tag,storage,weight);
Operands
Function Block

MAVE tag MOVING_AVERAGE structure MAVE structure
storage REAL array Holds the moving average
samples. This array must be at
least as large as
NumberOfSamples.
weight REAL array (optional)
Used for weighted averages.
This array must be at least as
large as NumberOfSamples.
Element [0] is used for the
newest sample; element [n] is
used for the oldest sample.

Statistical Instructions Chapter 5
MOVING_AVERAGE Structure

EnableIn BOOL Enable input. If cleared, the instruction does not execute
and outputs are not updated.
Default is set.
Valid = any float
Default = 0.0
InFault BOOL Bad health indicator for the input. If In is read from an
analog input, then InFault is normally controlled by fault
status on the analog input. When set, InFault indicates the
appropriate bit in Status, and the instruction holds Out at
its current value. When InFault transitions from set to
cleared, the instruction initializes the averaging algorithm
and continues executing.
Default is cleared.
Initialize BOOL Initialize input to the instruction. When set, the instruction
holds Out = In, except when InFault is set, in which case,
the instruction holds Out at its current value. When
Initialize transitions from set to cleared, the instruction
initializes the averaging algorithm and continues
executing.
Default is cleared.
SampleEnable BOOL Enable for taking a sample of In. When set, the instruction
enters the value of In into the storage array and calculates a
new Out value. When SampleEnable is cleared and Initialize
is cleared, the instruction holds Out at its current value.
Default is set.
NumberOfSamples DINT The number of samples to be used in the calculation. If this
value is invalid, the instruction sets the appropriate bit in
Status and holds Out at its current value. When
NumberOfSamples becomes valid again, the instruction
executing.
Valid = 1 to (minimum size of StorageArray or
WeightArray, if used)
Default = 1
UseWeights BOOL Averaging scheme input to the instruction. When set, the
instruction uses the weighted method to calculate the Out.
When cleared, the instruction uses the uniform method to
calculate Out.
Default is cleared.


Parameter
overflows.
InstructFault BOOL The instruction detected one of the following execution
(Status.0) errors. This is not a minor or major controller error. Check
InFaulted (Status.1) BOOL In health is bad (InFault is set).
NumberOfSampInv BOOL NumberOfSamples invalid or not compatible with array
(Status.2) size.
Structured Text

MAVE tag MOVING_AVERAGE structure MAVE structure
storage REAL array Holds the moving average
samples. This array must be at
least as large as
NumberOfSamples.
weight REAL array (optional)
Used for weighted averages.
This array must be at least as
large as NumberOfSamples.
Element [0] is used for the
newest sample; element [n] is
used for the oldest sample.

MOVING_AVERAGE Structure

Default is set.
Valid = any float
Default = 0.0
InFault BOOL Bad health indicator for the input. If In is read from an
analog input, then InFault is normally controlled by fault
status on the analog input. When set, InFault indicates the
appropriate bit in Status, and the instruction holds Out at
its current value. When InFault transitions from set to
cleared, the instruction initializes the averaging algorithm
and continues executing.
Default is cleared.
Initialize BOOL Initialize input to the instruction. When set, the instruction
holds Out = In, except when InFault is set, in which case,
the instruction holds Out at its current value. When
Initialize transitions from set to cleared, the instruction
executing.
Default is cleared.
SampleEnable BOOL Enable for taking a sample of In. When set, the instruction
enters the value of In into the storage array and calculates a
new Out value. When SampleEnable is cleared and Initialize
is cleared, the instruction holds Out at its current value.
Default is set.
NumberOfSamples DINT The number of samples to be used in the calculation. If this
value is invalid, the instruction sets the appropriate bit in
Status and holds Out at its current value. When
NumberOfSamples becomes valid again, the instruction
executing.
Valid = 1 to (minimum size of StorageArray or
WeightArray, if used)
Default = 1
UseWeights BOOL Averaging scheme input to the instruction. When set, the
instruction uses the weighted method to calculate the Out.
When cleared, the instruction uses the uniform method to
calculate Out.
Default is cleared.


Parameter
overflows.
InstructFault BOOL The instruction detected one of the following execution
(Status.0) errors. This is not a minor or major controller error. Check
InFaulted (Status.1) BOOL In health is bad (InFault is set).
NumberOfSampInv BOOL NumberOfSamples invalid or not compatible with array
(Status.2) size.
Description
The MAVE instruction calculates a weighted or non-weighted moving average of

the input signal. The NumberOfSamples specifies the length of the moving
average span. At every scan of the block when Sample Enable is set, the instruction
moves the value of In into the storage array and discards the oldest value. Each Inn
has a user-configured Weightn, which is used if UseWeights is set.
Condition Action
Weighted averaging method
UseWeights is set.
Uniform averaging method

UseWeights is cleared.
The instruction will not place an invalid In value (NAN or ± INF) into the
storage array. When In is invalid, the instruction sets Out = In and logs an
overflow minor fault, if this reporting is enabled. When In becomes valid, the
instruction initializes the averaging algorithm and continues executing.
You can make runtime changes to the NumberOfSamples parameter. If you

increase the number, the instruction incrementally averages new data from the
current sample size to the new sample size. If you decrease the number, the
instruction recalculates the average from the beginning of the sample array to the
new NumberOfSamples value.

Initializing the Averaging Algorithm
Certain conditions, such as instruction first scan and instruction first run, require
the instruction to initialize the moving average algorithm. When this occurs, the
instruction considers the sample StorageArray empty and incrementally averages
samples from 1 to the NumberOfSamples value. For example:
No
Major/Minor Faults

faults.
Execution
Function Block

Tag.EnableIn is false Request re-initialization of Storage array the next time the instruction executes.

Instruction first scan Initialize Out to zero.
Structured Text


Example
Each scan, the instruction places input_value in array storage. The instruction
calculates the average of the values in array storage, optionally using the weight
values in array weight, and places the result in Out.
Function Block
Structured Text
MAVE_01.In := input_value;
MAVE(MAVE_01,storage,weight);
output_value := MAVE_01.Out;
See also
Maximum Capture (MAXC) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The MAXC instruction retains the maximum value of the input over time and
allows the user to re-establish a maximum as needed.
Available Languages
Ladder Diagram

Function Block
Structured Text
MAXC(MAXC_tag);
Operands
Function Block

MAXC tag MAXIMUM_CAPTURE Structure MAXC structure
MAXIMUM_CAPTURE Structure

updated.
Default is set.
Valid = any float
Default = 0.0
Reset BOOL Request to reset control algorithm. The instruction sets Out = ResetValue as
long as Reset is set.
Default is cleared.
ResetValue REAL The reset value for the instruction. The instruction sets Out = ResetValue as
Valid = any float
Default = 0.0

Parameter
Structured Text

MAXC tag MAXIMUM_CAPTURE Structure MAXC structure

Description
The MAXC instruction executes this algorithm:
Condition Action
Reset is set LastMaximum = Reset value
Out = LastMaximum
Reset is cleared If In > LastMaximum then update LastMaximum.
Out = LastMaximum.
No
Major/Minor Faults

faults.
Execution
Function Block

Instruction first scan Set request to initialize the Maximum value with the current input.
Structured Text


Examples
If Reset is set, the instruction sets Out=ResetValue. If Reset is cleared, the

instruction sets Out=In when In> LastMaximum. Otherwise, the instruction sets
Out= LastMaximum.
Function Block
Structured Text
MAXCTag.In := input_value;
MAXCTag.Reset := reset_input;
MAXCTag.ResetValue := reset_value;
MAXC(MAXCTag);
result := MAXCTag.Out;
See also

Minimum Capture (MINC) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The MINC instruction retains the minimum value of the input over time and
allows the user to re-establish a minimum as needed.
Available Languages
Ladder Diagram
Function Block
Structured Text
MINC(MINC_tag);
Operands
Function Block

MINC tag MINIMUM_CAPTURE structure MINC structure

MINIMUM_CAPTURE Structure

updated.
Default is set.
Valid = any float
Default = 0.0
Reset BOOL Request to reset control algorithm. The instruction sets Out = ResetValue as
Default is cleared.
ResetValue REAL The reset value for the instruction. The instruction sets Out = ResetValue as
Valid = any float
Default = 0.0

Parameter
Structured Text

MINC tag MINIMUM _CAPTURE structure MINC structure
Description
The MINC instruction executes this algorithm:
Condition Action
Reset is set LastMinimum = ResetValue
Out = ResetValue
Reset is cleared If In < LastMinimum then update LastMinimum.
Out = LastMinimum.
No
Major/Minor Faults

faults.

Execution
Function Block

Instruction first scan Set request to initialize the Maximum value with the current input.
Structured Text

Examples
If Reset is set, the instruction set Out=ResetValue. If Reset is cleared, the

instruction set Out=In when In < LastMinimum. Otherwise, the instruction sets
Out= LastMinimum.
Function Block
Structured Text
MINCTag.In := input_value;
MINCTag.Reset := reset_input;

MINCTag.ResetValue := reset_value;
MINC(MINCTag);
result := MINCTag.Out;
See also
Moving Standard This information applies to the CompactLogix 5370, ControlLogix 5570,
Deviation (MSTD) CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The MSTD instruction calculates a moving standard deviation and average for the
In signal.
Available Languages
Ladder Diagram
Function Block
Structured Text
MSTD(MSTD_tag, StorageArray);

Operands
Function Block

block tag MOVING_STD_DEV structure MSTD structure
StorageArray REAL array Holds the In samples. This array
must be at least as large as
NumberOfSamples.
MOVING_STD_DEV Structure

EnableIn BOOL Enable input. If cleared, the instruction does not
Default is set.
Valid = any float
Default = 0.0
InFault BOOL Bad health indicator for the input. If In is read
from an analog input, then InFault is normally
controlled by fault status on the analog input.
When set, InFault indicates the input signal has
an error, the instruction sets the appropriate bit in
Status, and the instruction holds Out and Average
at their current values. When InFault transitions
from set to cleared, the instruction initializes the
averaging algorithm and continues executing.
Default is cleared.
Initialize BOOL Initialize input to the instruction. When set, the
instruction sets Out = 0.0 and Average = In,
except when InFault is set, in which case, the
instruction holds both Out and Average at their
current values. When Initialize transitions from
set to cleared, the instruction initializes the
standard deviation algorithm and continues
executing.
Default is cleared.
SampleEnable BOOL Enable for taking a sample of In. When set, the
instruction enters the value of In into the storage
array and calculates a new Out and Average
value. When SampleEnable is cleared and
Initialize is cleared, the instruction holds Out and
Average at their current values.
Default is cleared.
NumberOfSamples DINT The number of samples to be used in the
calculation. If this value is invalid, the instruction
sets the appropriate bit in Status and the
instruction holds Out and Average at their current
values. When NumberOfSamples becomes valid
again, the instruction initializes the standard
deviation algorithm and continues executing.
Valid = 1 to size of the storage array
Default = 1


if Out overflows
Average REAL The calculated average of the algorithm.
InFaulted (Status.1) BOOL In health is bad. InFault is set.
NumberOfSampInv (Status.2) BOOL NumberOfSamples invalid or not compatible with
array size.
Structured Text

block tag MOVING_STD_DEV structure MSTD structure
StorageArray REAL array Holds the In samples. This
array must be at least as large
as NumberOfSamples.
Description
The MSTD instruction supports any input queue length. Each scan, if
SampleEnable is set, the instruction enters the value of In into a storage array.
When the storage array is full, each new value of In causes the oldest entry to be
deleted.
The MSTD instructions uses these equations for the outputs:
Condition Action
Average
Out
The instruction will not place an invalid In value (NAN or INF) into the
storage array. When In is invalid, the instruction sets Out = In, sets Average = In,
and logs an overflow minor fault, if this reporting is enabled. When In becomes

valid, the instruction initializes the standard deviation algorithm and continues
executing.
You can make runtime changes to the NumberOfSamples parameter. If you

increase the number, the instruction incrementally processes new data from the
current sample size to the new sample size. If you decrease the number, the
instruction re-calculates the standard deviation from the beginning of the sample
array to the new NumberOfSamples value.
Initializing the Standard Deviation Algorithm
Certain conditions, such as instruction first scan and instruction first run, require
the instruction to initialize the standard deviation algorithm. When this occurs,
the instruction considers the StorageArray empty and incrementally processes
samples from 1 to the NumberOfSamples value. For example:
No
Major/Minor Faults

faults.

Execution
Function Block

Instruction first run Initialize the previous Output and Average.
Instruction first scan Initialize Out to zero.
Initialize Average to Input
Initialize the instruction algorithm.
Structured Text

Example
Each scan that SampleEnable is set, the instruction places the value of In into array
storage, calculates the standard deviation of the values in array storage, and places
the result in Out. Out becomes an input parameter for function_block_C.
Function Block

Structured Text
MSTD_01.In := input_value;
MSTD_01.SampleEnable := enable_sample;
MSTD(MSTD_01,storage);
deviation := MSTD_01.Out;
See also

Chapter 6
Logical and Move
Logical and Move These instructions are used to perform logical operations on and move output
data.
Instructions
Ladder Diagram and Structured Text
DFF JKFF RESD SETD
Function Block
Not available
Structured Text
DFF JKFF RESD SETD
See also
D Flip-Flop (DFF) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The DFF instruction sets the Q output to the state of the D input on a cleared to
set transition of the Clock input. The QNot output is set to the opposite state of
the Q output.

Chapter 6 Logical and Move
Available Languages
Ladder Diagram
Function Block
Structured Text
DFF(DFF_tag);
Operands
Function Block

DFF tag FLIP_FLOP_D structure DFF structure
FLIP_FLOP_D Structure

Default is set.
D BOOL The input to the instruction.
Default is cleared.
Clear BOOL Clear input to the instruction. If set, the instruction clears Q and
sets QNot.
Clock BOOL Clock input to the instruction.
Default is cleared.

Parameter
Q BOOL The output of the instruction.
QNot BOOL The complement of the Q output.

Logical and Move Chapter 6
Structured Text

DFF tag FLIP_FLOP_D structure DFF structure
Description
When Clear is set, the instructions clears Q and sets QNot. Otherwise, if Clock is
set and Clockn-1 is cleared, the instruction sets Q=D and sets QNot = NOT (D).
The instruction sets Clockn-1 = Clock state every scan.
No
Major/Minor Faults

faults.
Execution
Function Block

Instruction first run Clockn-1 is set to 1.

Qn-1 is cleared to 0.
Instruction first scan Previous input Clock state is set True.
Previous output Q state is set False.
Structured Text


Example
When Clock goes from cleared to set, the DFF instruction sets Q = D. When
Clear is set, Q is cleared. The DFF instruction sets QNot to the opposite state of
Q.
Function Block
Structured Text
DFF_03.D := d_input;
DFF_03.Clear := clear_input;
DFF_03.Clock := clock_input;
DFF(DFF_03);
q_output := DFF_03.Q;
qNot_output := DFF_03.QNot;
See also
JK Flip-Flop (JKFF) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The JKFF instruction complements the Q and QNot outputs when the Clock
input transitions from cleared to set.
Available Languages
Ladder Diagram

Function Block
Structured Text
JKFF(JKFF_tag);
Operands
Function Block

JKFF tag FLIP_FLOP_JK Structure JKFF structure
FLIP_FLOP_JK Structure

Parameter
EnableIn BOOL Enable input. If cleared, the instruction
updated.
Default is set.
Clear BOOL Clear input to the instruction. If set, the
instruction
clears Q and sets QNot.
Clock BOOL Clock input to the instruction.
Default is cleared.

Parameter
Q BOOL The output of the instruction.
QNot BOOL The complement of the Q output.

Structured Text

JKFF tag FLIP_FLOP_JK Structure JKFF structure
Description
When Clear is set, the instructions clears Q and sets QNot. Otherwise, if Clock is
set and Clockn-1 is cleared, the instruction toggles Q and QNot.
The instruction sets Clockn-1 = Clock state every scan.
No
Major/Minor Faults

faults.
Execution
Function Block

Instruction first run Clockn-1 is set to 1.
Qn-1 is cleared to 0.
Instruction first scan Previous input Clock states is set to True.
Previous output Q state is False.
Structured Text


Examples
When Clock goes from cleared to set, the JKFF instruction toggles Q. If Clear is
set, Q is always cleared. The JKFF instruction sets QNot to the opposite state of
Q.
Function Block
Structured Text
JKFF_01.Clear := clear_input;
JKFF_01.Clock := clock_input;
JKFF(JKFF_01);
q_output := JKFF_01.Q;
qNot_output := JKFF_01.QNot;
See also
Reset Dominant (RESD) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The RESD instruction uses Set and Reset inputs to control latched outputs. The
Reset input has precedence over the Set input.
Available Languages
Ladder Diagram
This instruction is not available for ladder diagram.

Function Block
Structured Text
RESD(RESD_tag);
Operands
Function Block

RESD tag DOMINANT_RESET structure RESD structure
DOMINANT_RESET Structure

Parameter
EnableIn BOOL Enable input. If cleared, the instruction does
Default is set.
Set BOOL Set input to the instruction.
Default is cleared.
Clear BOOL Reset input to the instruction.
Default is cleared.

Parameter
Out BOOL The output of the instruction.

OutNot BOOL The inverted output of the instruction.
Structured text

Description
The Reset Dominant instruction uses the Set and Reset input parameters to
control latched output parameters Out and OutNot. The Reset input has
precedence over the Set input.
Out will be latched true whenever the Set input parameter is set true. Setting the
Reset parameter to true will override the current state of Out, setting Out to false.
When Reset returns to false, Out will be latched to the current state of the Set
input parameter. OutNot will be set to the opposite state of Out.
No
Major/Minor Faults
None specific to this instruction. See Common Attributes for fault related
attributes.
Execution
Function Block

Instruction first run Previous Out is set to False.
Structured Text

Example
When Set is true and Reset is false, Out is set true. When Reset is true, Out is
cleared. The Reset input has precedence over the Set input. The RESD instruction
sets OutNot to the opposite state of Out.

Function Block
Structured Text
RESD_01.Set := set_input;
RESD_01.Reset := reset_input;
RESD(RESD_01);
out_output := RESD_01.Out;
outNot_output := RESD_01.OutNot;
See also

Set Dominant (SETD) This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers.
The SETD instruction uses Set and Reset inputs to control latched outputs. The
Set input has precedence over the Reset input.
Available Languages
Ladder Diagram
Function Block
Structured Text
SETD(SETD_tag);
Operands
Function Block

SETD tag DOMINANT_SET structure SETD structure
Structured text

SETD tag DOMINANT_SET structure SETD structure

DOMINANT_SET Structure

Parameter
Default is set.
Set BOOL Set input to the instruction.
Default is cleared.
Clear BOOL Reset input to the instruction.
Default is cleared.

Parameter
Out BOOL The output of the instruction.
OutNot BOOL The inverted output of the instruction.
Description
The Set Dominant instruction uses the Set and Reset input parameters to control
latched output parameters Out and OutNot. The Set input has precedence over
the Reset input.
Out will be latched true whenever the Set input parameter is set true. Setting the
Reset parameter to true will set Out to false only if the Set input is false. OutNot
will be set to the opposite state of Out.
No
Major/Minor Faults

faults.
Execution

Instruction first run Previous Out is set to True.
Postscan EnableIn and EnableOut bits are cleared to false

Structured Text

Example
When Set is true, Out is set true. When Set is false and Reset is true, Out is
cleared. The Set input has precedence over the Reset input. The SETD instruction
sets OutNot to the opposite state of Out.
Function Block
Structured Text
SETD_01.Set := set_input;
SETD_01.Reset := reset_input;
SETD(SETD_01);
out_output := SETD_01.Out;
outNot_output := SETD_01.OutNot;
See also

Chapter 7
Equipment Phase Instructions
Equipment Phase The Equipment Phase instructions include:
Instructions Available Instructions
Ladder Diagram and Structured Text
PSC PCMD POVR PFL PCLF PXRQ PRNP PPD PATT PDET
Function Block
These instructions are not available in function block.
If want to: Use this instruction:

Signal an equipment phase that the state routine is complete to indicate that it PSC
should go to the next state
Change the state or substate of an equipment phase PCMD
Give a Hold, Stop, or Abort command to an equipment phase, regardless of POVR
ownership
Signal a failure for an equipment phase PFL
Clear the failure code of an equipment phase PCLF
Initiate communication with FactoryTalk Batch software. PXRQ
Clear the NewInputParameters bit of an equipment phase PRNP

Set up breakpoints within the logic of an equipment phase PPD
Take ownership of an equipment phase to either: PATT

• Prevent another program or FactoryTalk Batch software from commanding an
equipment phase
• Make sure another program or FactoryTalk Batch software does not already
own an equipment phase
Relinquish ownership of an equipment phase PDET
See also
Equipment Sequence Diagram instructions on page 476

Chapter 7 Equipment Phase Instructions
Attach to Equipment Phase This instruction applies to the CompactLogix 5370 and CompactLogix 5380,
ControlLogix 5570 and ControlLogix 5580, and Compact GuardLogix 5370 and
(PATT) Compact GuardLogix 5380 controllers.
Use the PATT instruction to take ownership of an equipment phase to either:
• Prevent another program or FactoryTalk Batch software from commanding

an equipment phase.
• Make sure another program or FactoryTalk Batch software does not already
own an equipment phase.
The PATT instruction lets a program take ownership of an equipment phase.
• Ownership is optional. As long as an equipment phase has no owners, any

sequencer (program in the controller, FactoryTalk Batch software) can
command an equipment phase.
• FactoryTalk Batch software always takes ownership of an equipment phase.
• Once a sequencer owns an equipment phase, no other sequencer can
command the equipment phase.
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
PATT(Phase_Name,Result);

Equipment Phase Instructions Chapter 7
Operands
Ladder Diagram

Phase Name PHASE Name of the equipment Equipment phase to own.
phase
Result DINT immediate To let the instruction return a code
tag for its success or failure, enter a DINT
tag in which to store the result code.
Otherwise, enter 0.
Structured Text
The operands are the same as those for the Ladder Diagram PATT instruction.
Guidelines for using the PATT Instruction
Guideline Details
Consider ownership if have multiple sequencers Ownership makes sure that a program can command all the
that use a common equipment phase. equipment phases it needs and locks out any other
sequencers.
If using: Then:
FactoryTalk Batch software to Before executing the
also run sequences within this sequence (process), take
controller ownership of all the
equipment phases that
the sequence uses.
Multiple programs to command
the same equipment phase
None of the above No need to own the
equipment phases.
Remember that Logix Designer overrides the Regardless of whether a program or FactoryTalk Batch
controller. software owns an equipment phase, the option exists to use
Logix Designer to override ownership and command the
equipment phase to a different state.
This: Overrides this:
Logix Designer Controller (internal
sequencer), FactoryTalk
Batch software (external
sequencer)
Controller (internal sequencer) None
FactoryTalk Batch software None
(external sequencer)
Use the Result operand to validate ownership. Use the Result operand to get a code that shows the success
or failure of the PATT instruction. To interpret the result code,
see the PATT Result Codes section below.

Avoid or plan for a result code = 24582. On each execution, the PATT instruction tries to take
ownership of the equipment phase. Once a program owns an
equipment phase, another execution of the PATT instruction
produces a result code = 24582. When using a PATT
instruction, either:
• Limit its execution to a single scan to avoid the 24582
result code.
• Include a result code = 24582 in conditions for
ownership.
When the sequence is done, relinquish To relinquish ownership, use a Detach from Equipment Phase
ownership. (PDET) instruction.
PATT Result Codes
If assigning a tag to store the result of a PATT instruction, the instruction returns
one of these codes when it executes:
Code (Dec) Description

0 The command was successful.
24579 Logix Designer or HMI already owns equipment phase. The caller is attached to the
equipment phase, but it is not the current commanding owner.
• This program now also owns the equipment phase.
• Since the Logix Designer or HMI is higher priority than a program, the program
cannot command the equipment phase.
• High priority HMI ownership is specific only to CompactLogix 5370 and
ControlLogix 5570 controllers.
24582 The program already owns the equipment phase.
24593 One of these already owns the equipment phase:
• External sequencer (FactoryTalk Batch software)
• Another program in the controller
24594 The equipment phase is unscheduled, inhibited, or in a task that is inhibited.
No
Major/Minor Faults
None. See Index Through Arrays for operand-related faults.

Execution
For Structured Text, EnableIn is always true during normal scan. Therefore, if the
instruction is in the control path activated by the logic, it will execute. All
Conditions below the thick solid line can only occur during Normal Scan mode.

Prescan No action taken.
Postscan No action taken.
EnableIn is false No action taken.
EnableIn is true The instruction executes as described above.
Example
Ladder Diagram
If Step.1 = 1 (first step in the sequence) then
Each PATT instruction tries to take ownership of an equipment phase.

If the Result of a PATT instruction = 0 or 24582 (the program owns
the equipment phase), then
A bit within the Ownership tag = 1. (In the Ownership tag, each
equipment phase is assigned a bit.)
If Ownership = 3 (The program owns both equipment phases as shown by

bits 0 and 1), then

Done = 1. (This signals the sequence to go to the next step.)

Structured Text
Number Description
At the first step in the sequence, the Take_Ownership action tries to take
ownership of two equipment phases that the sequence uses.
Action_009 checks that the program owns the equipment phases. If the
Result of each PATT instruction = 0 or 24282 (the program owns the
equipment phase), then a bit within the Ownership tag = 1. (In the
Ownership tag, each equipment phase is assigned a bit.)
If the Ownership = 3 (The program owns both equipment phases as shown
by bits 0 and 1.), then the SFC goes to the next step.
See also
Equipment Phase Instructions on page 415
Detach from Equipment This instruction applies to the CompactLogix 5370 and CompactLogix 5380,
Phase (PDET) Compact GuardLogix 5380 controllers.
Use the PDET instruction to relinquish ownership of an equipment phase.
After a program executes a PDET instruction, the program no longer owns the
equipment phase. This frees the equipment phase for ownership by another
program or by FactoryTalk Batch software. Use the PDET instruction only if the

program previously took ownership of an equipment phase via an Attach to

Equipment Phase (PATT) instruction.
Available Languages
Ladder Diagram
Function Block
Structured Text
PDET(Phase_Name);
Operands
Ladder Diagram

Phase Name PHASE Name of the Equipment phase no
equipment phase longer to own.
Structured Text
The operands are the same as those for the Ladder Diagram PDET instruction.
No
Major/Minor Faults

Execution
instruction is in the control path activated by the logic, it will execute.

EnableIn is true The instruction executes.
Example
Ladder Diagram
If Step.6 = 1 (step 6 in the sequence) then
Each PDET instruction relinquishes ownership of the phases that the

sequence owned.
Each Ownership bit = 0. (In the Ownership tag, each equipment phase is
assigned a bit.)
Done = 1. (This signals the sequence to go to the next step.)

Structured Text
When the sequence executes, the Relinquish_Ownership action:
• Relinquishes ownership of the equipment phase.

• Clears the ownership flags (bits that the SFC set when it took ownership of
the equipment phases).
Using an action Qualifier of type P1 limits the action execution to the first scan of
that step.
See also
Equipment Phase Clear This instruction applies to the CompactLogix 5370 and CompactLogix 5380,
Failure (PCLF) Compact GuardLogix 5380 controllers.
Use the PCLF instruction to clear the failure code of an equipment phase.
The PCLF instruction clears the failure code for an equipment phase.
• Use only a PCLF instruction to clear the failure code of an equipment

phase.
• A CLR instruction, MOV instruction, or assignment (:=) does not change
the failure code of an equipment phase.
Make sure the equipment phase does not have other owners when using the PCLF
instruction. The PCLF instruction will not clear the failure code if Logix Designer,
HMI, FactoryTalk Batch software, or another program owns the equipment
phase.
• High priority HMI ownership is specific only to the CompactLogix 5370

and ControlLogix 5570 controllers.

Available Languages
Ladder Diagram
Function Block
Structured Text
PCLF(Phase_Name);
Operands
Ladder Diagram

Phase Name PHASE Name of the Equipment phase whose failure
equipment phase code to clear.
Structured Text
The operands are the same as those for the Ladder Diagram PCLF instruction.
No
Major/Minor Faults
None. See Index Through Arrays below for operand-related faults.
Execution
instruction is in the control path activated by the logic, it executes.


Example
Ladder Diagram
If Drain_Tank_Restart = 1 (restart the Drain_Tank equipment phase) then
Clear the failure code of the Drain_Tank equipment phase
Change the state of the Drain_Tank equipment phase to restarting via the
restart command.
Drain_Tank_Restart = 0;
Structured Text
(*If Drain_Tank_Restart = on, then
Clear the failure code for the Drain_Tank equipment phase.
Restart the Drain_Tank equipment phase.
Turn off Drain_Tank_Restart.*)
If Drain_Tank_Restart Then
PCLF(Drain_Tank);
PCMD(Drain_Tank,Restart,0);
Drain_Tank_Restart := 0;
End_If;
See also

This instruction applies to the CompactLogix 5370 and CompactLogix 5380,

Equipment Phase
Command (PCMD) Compact GuardLogix 5380 controllers.
The PCMD instruction transitions an equipment phase to the next state or sub-
state.
Use the PCMD instruction to change the state or sub-state of an equipment

phase.
In the running state routine, use the PSC instructions to transition the equipment
phase to the complete state. For more information about Paused functionality,
please see the PPD phase instruction.
Tip: The PPD instruction is necessary for utilizing pause functionality.
Number Description
Command
Some states need a command to go to the next state. If the equipment phase is in the idle state, a start
command transitions the equipment phase to the running state. Once in the running state, the equipment
phase executes its running state routine.
Other states use a Phase State Complete (PSC) instruction to go to the next state. If the equipment phase is in
the holding state, a PSC instruction transitions the equipment phase to the held state. Once in the held state,
the equipment phase needs a restart command to go to the restarting state.
Sub-state
Use Auto Pause, Pause, and Resume to test and debug a state routine. The sub-states require the Equipment
Phase Paused (PPD) instruction to create breakpoints in the logic.
Use the auto pause, pause, and resume commands to step through the breakpoints.

Available Languages
Ladder Diagram
Function Block
Structured Text
PCMD (PhaseName,Command,Result);
Operands
Ladder Diagram

Phase Name PHASE Name of the Equipment phase to change to a different
equipment phase state.
Command command Command Command to send to the equipment phase
enumeration value to change its state. For available
commands, refer to the illustration above.
Result DINT immediate To let the instruction return a code for its
tag success or failure, enter a DINT tag in which
to store the result code. Otherwise, enter 0.
Structured Text
The operands are the same as those for the Ladder Diagram PCMD instruction.

Guidelines for using the PCMD Instruction
Guideline Details
Limit execution of a PCMD Limit the execution of the PCMD instruction to a single scan. Each command
instruction to a single scan. applies to only a specific state or states. Once the equipment phase changes
state, the command is no longer valid. To limit execution, use methods such
as:
• Execute the PCMD instruction within a P1 Pulse (Rising Edge) or P0 Pulse
(Falling Edge) action.
• Place a one shot instruction before the PCMD instruction.
• Execute the PCMD instruction and then advance to the next step.
Determine if need ownership of the As an option, a program can own an equipment phase. This prevents
equipment phase. another program or FactoryTalk Batch software from also commanding the
equipment phase.
If using: Then:
FactoryTalk Batch software to also run Also run procedures (recipes)
procedures (recipes) within this within this controller. Before
controller using a PCMD instruction, use an
Attach to Equipment Phase
(PATT) instruction to take
ownership of the equipment
phase.
Multiple programs to command the Use an Attach to Equipment
same equipment phase Phase (PATT) instruction to take
ownership of the equipment
phase.
None of the above There is no need to own the
equipment phase.
Using a POVR instruction instead of a 1. Giving the hold, stop, or abort command?
PCMD instruction. • No - Use the PCMD instruction.
• Yes - Go to step 2.
2. Must the command work even if the equipment phase is under manual
control via Logix Designer?
• Yes - Use the POVR instruction instead.
• No - Go to step 3.
3. Must the command work even if FactoryTalk Batch software or another
program owns the equipment phase?
• Yes - Use the POVR instruction instead.
• No - Use the PCMD instruction.
For example, suppose the equipment checks for jammed material. And if
there is a jam, the equipment should always abort. In that case, use the
POVR instruction. This way, the equipment aborts even if under manual
control via Logix Designer.
Determine if need a return code. Use the Result operand to get a code that shows the success or failure of the
PCMD instruction.
If: Then in the Result operand,
enter a:

Anticipate ownership conflicts or other DINT tag, in which to store a code

possible errors for the result of the execution of
the instruction.
Do not anticipate ownership conflicts or 0
other possible errors
Want to interpret the result code, refer
to the Result Codes table below.
PCMD Result Codes
If assigning a tag to store the result of a PCMD instruction, the instruction returns

0 Successful command.
24577 Valid command.
24578 Invalid command for the current state of the equipment phase. For example, if the
equipment phase is in the running state, then a start command is not valid.
24579 Cannot command the equipment phase. One of these already owns the equipment phase.
• Logix Designer
• HMI
• external sequencer (for example, FactoryTalk Batch software)
• another program in the controller
24594 Unscheduled or inhibited equipment phase or in an inhibited task.
Tip: High priority HMI ownership is specific only to CompactLogix 5370 and
No
Major/Minor Faults
Execution
conditions below the think solid line can only occur during Normal Scan mode.


Example 1
Ladder Diagram
Number Description
If ProcedureB_Stepindex = 20 (the routine is at step 20)
And this is the transition to step 20 (the ONS instruction signals that the EQU instruction went from false to true.)
Then
Change the state of the Add_Water equipment phase to running via the start command.
And the Add_Water equipment phase is complete (Add_Water.Complete = 1)
Then
Change the state of the Add_Water equipment phase to resetting via the reset command. Advance to step 30.

Structured Text
Number Description
When the SFC enters Add_Water_Step, change ADD_Water equipment phase to running
via the start command, The P1 qualifier limits this to the first scan of the step.
Before the SFC leaves Add_Water_Step (Add_Water_Complete = 1), change Add_Water
equipment phase to resetting via the reset command. The P0 qualifier limits this to the last
scan of the step.
Example 2
Ladder Diagram
Number Description
And this is the transition to step 30 (the ONS instruction signals that the EQU instruction went from false to true.)
Then
Change the state of the Add_Water equipment phase to running via the start command.
Verify that the command was successful and store the result code in PCMD_Result[1] [DINT Tag].

Structured Text
Number Description
When the SFC enters Add_Ingredient_Step
• Change Add_Ingredient equipment phase to running via the start commend.
• Verify that the command was successful and store the result code in PCDM_Result[2] (DINT tag).
The P1 qualifier limits this to the first scan of the step.
See also
Equipment Phase Paused (PPD)
Equipment Phase External This instruction applies to the CompactLogix 5370 and CompactLogix 5380,
Request (PXRQ) Compact GuardLogix 5380 controllers.
Use the PXRQ instruction to initiate communication with FactoryTalk® Batch

software.
Important: When the PXRQ instruction is used in an Equipment Sequence, only the Download All (1000) request
and the Upload All (2000) request are supported. All other PXRQ instruction requests are ignored.
The PXRQ instruction sends a request to FactoryTalk Batch software.
Available Languages
Ladder Diagram

Function Block
Structured Text
PXRQ (Phase_Instruction, External_Request, Data_Value);
Operands
Ladder Diagram

Phase Instruction PHASE_INSTRUCTION tag Tag that controls the operation.
External Request request enumeration value Type of request.
Data Value DINT array tag Parameters of the request.
Structured Text
The operands are the same as those for the Ladder Diagram PXRQ instruction.
PHASE_INSTRUCTION Data Type
Then check or
set this
If want to: member: Data type Notes
Determine if a false-to-true transition caused EN BOOL Refer to the timing diagram below.
the instruction to execute
Determine if the request failed ER BOOL Refer to the timing diagram below.
To diagnose the error, refer to the ERR and
EXERR values.
Determine if the FactoryTalk Batch software PC BOOL Refer to the timing diagram below.
completed its processing of the request
Determine if the FactoryTalk Batch software is IP BOOL Refer to the timing diagram below.
processing the request
Determine if the instruction sent the request WA BOOL Refer to the timing diagram below.
but FactoryTalk Batch software has not yet WA also = 0 if:
acknowledged it
• The connection times out
• A network error occurs
• ABORT = 1
Cancel the request ABORT BOOL To abort (cancel) the request, set the ABORT
bit = 1. When the controller aborts the
instruction:
• ER = 1
• ERR shows the result of the abort

• Diagnose the cause of an error ERR INT If ER = 1, the error code gives diagnostic
information. To interpret the error code,
see PXRQ Error Codes.
• Write logic to respond to specific errors EXERR INT If ER = 1, the extended error code gives
additional diagnostic information for some
errors. To interpret the extended error code,
see PXRQ Error Codes.
Use one member for the various status bits of STATUS DINT For this member: Use this bit:
the tag
EN 31
ER 28
PC 27
IP 26
WA 25
ABORT 24
Timing Diagram
Guidelines for using the PXRQ Instruction
Guideline Details
Make sure to use an array for the Data Values operand. The Data Values operand requires a DINT array, even if the array contains only 1
element (that is, the data type is DINT[1]).
In Ladder Diagram, condition the instruction to execute This is a transitional instruction. Each time the instruction executes, toggle the
on a transition. EnableIn from false to true
In Structured Text, use a construct to condition the When programming a PXRQ instruction in structured text, consider:
execution of the instruction. • In structured text, instructions execute each time they are scanned.
• The PXRQ instruction updates its status bits only when it is scanned.
• To keep the instruction from repeatedly executing but ensure that the
status bits update, enclose the instruction in a construct that:
• Initiates the execution of the instruction only on a transition
(change in conditions).
• Remains true until either PC = 1 or ER = 1

Configure the PXRQ Instruction
Then configure the PXRQ instruction as follows:

If want to: External Request Data Value Array Value
Element
Download all input parameters Download Input DINT[0] 0
Parameters
Download a single input parameter Download Input DINT[0] parameter ID
Parameters
Download a range of input parameters Download Input DINT[0] parameter ID of the first
Parameters parameter
DINT[1] Number of parameters to
download
Download the input parameters configured for Download Input DINT[0] start = 1
automatic download on start or transfer of Parameters Subset transfer of control = 2
control
Download all output parameters Download Output DINT[0] 0
Parameter Limits
Download a single output parameter Download Output DINT[0] parameter ID
Parameter Limits
Upload all reports Upload Output Parameters DINT[0] 0
Upload a single report Upload Output Parameters DINT[0] report ID
Upload a range of reports Upload Output Parameters DINT[0] report ID of the first report
DINT[1] Number of reports to download
Upload the output parameters configured for Upload Output Parameters DINT[0] terminal = 1
automatic upload on terminal state or transfer Subset transfer of control = 2
of control
Send a message to an operator Send Message to Operator DINT[0] message ID
Clear a message from an operator Clear Message to Operator DINT[0] 0
Acquire a resource Acquire Resources DINT[0] equipment ID
Acquire multiple resources Acquire Resources DINT[0] equipment ID
DINT[1] equipment ID
...
Release a single resource Release Resources DINT[0] equipment ID

Release multiple resources Release Resources DINT[0] equipment ID
DINT[1] equipment ID
...
Release all resources Release Resources DINT[0] 0

Send a message (and optional data) to Send Message to Linked DINT[0] message ID
another phase Phase

Number of phases to receive

DINT[1] message
DINT[2] Message Value
...
Send a message (and optional data) to Send Message to Linked DINT[0] message ID
another phase and wait for the phase to Phase and Wait
DINT[1] Number of phases to receive
receive the message
message
...
Wait to receive a message from another phase Receive Message From DINT[0] message ID
Linked Phase
...
Cancel a message to another phase Cancel Message to Linked DINT[0] message ID

Phase
Cancel all messages to another phase Cancel Message to Linked DINT[0] 0
Phase
Download customer's batch ID Download Batch Data DINT[0] 1
DINT[1] parameter ID in which to store
the value
Download unique batch ID Download Batch Data DINT[0] 2

the value
Download phase ID Download Batch Data DINT[0] 3

the value
Download recipe control versus manual phase Download Batch Data DINT[0] 4
control
the value
Download current mode of the phase Download Batch Data DINT[0] 5

the value

Download the low limit of an input parameter Download Batch Data DINT[0] 6
The input parameter tag stores
the low limit.
Download the high limit of an input Download Batch Data DINT[0] 7
parameter The input parameter tag stores
the high limit.
Download data about the container currently Download Material DINT[0] 1
in use Manager Data Container In
DINT[1] Attribute ID (specify the single
Use
attribute).
DINT[2] Phase parameter ID (specify the

parameter tag to download the
value to)
Download data about the current material Download Material DINT[0] 2
inside the container currently in use Manager Data Container In
Use
attribute).

parameter tag to which to
download the value)
Download data about the current lot inside Download Material DINT[0] 3
the container currently in use Manager Data Container In
Use
attribute).

download the value)
Upload data about the container currently in Upload Material Manager DINT[0] 1
use Data Container In Use
attribute).

parameter tag from which to
upload the value)
Upload data about the current material inside Upload Material Manager DINT[0] 2
the container currently in use Data Container In Use
attribute).

parameter tag from which to
upload the value)
Upload data about the current lot inside the Upload Material Manager DINT[0] 3
container currently in use Data Container In Use
attribute).

parameter)
Download the current binding's container Download Container DINT[0] parameter ID in which to store
priority Binding Priority the value

Upload a new container priority for the current Upload Container Binding DINT[0] parameter ID that has value
binding Priority
Download information regarding the Download Sufficient DINT[0] parameter ID in which to store
availability of sufficient material Material the value
In the result value:
• 0 = insufficient material
• 1 = sufficient material
Generate a signature Generate E Signature DINT[0] ID of the signature template
DINT[1]
Download material attribute Download Material DINT[0] 0

Manager Database Data
download the value)
DINT[2] Material controller ID

attribute)
Download lot attribute Download Material DINT[0] 1

download the value)

attribute)
Download container attribute Download Material DINT[0] 3

download the value)
Material controller ID
DINT[2]
attribute)
Download container priority assignment Download Material DINT[0] 4

download the value)

attribute)
DINT[4]
Upload material attribute DINT[0] 5

Upload Material Manager DINT[1] Phase report ID (specify the

Database Data phase report tag from which to
upload)

attribute)
Upload lot attribute Upload Material Manager DINT[0] 6

Database Data
DINT[1] Phase report ID (specify the
phase report tag from which to
upload)

attribute)
Upload container attribute Upload Material Manager DINT[0] 8

Database Data
DINT[1] Phase report ID (specify the
phase report tag from which to
upload)

attribute)
Download container priority assignment Download Material DINT[0] 9

download the value)

attribute)
DINT[4]

PXRQ Error Codes
ERR (hex) EXERR (hex) Description Recommended Action

00 0000 The PXRQ instruction was aborted None
before it sent the request to
FactoryTalk Batch software.
01 0000 The PXRQ instruction was aborted None
after it sent the request to FactoryTalk
Batch software
02 0000 Two or more PXRQ instructions Limit execution to one PXRQ instruction at a time.
executed at the same time using the
same request type
03 0110 Communication error. The request Check that FactoryTalk Batch software is connected and
was not delivered because there is no running.
subscriber to the phase
0210 Communication error. The request
was not delivered because there is no
connection to the Notify object.
0410 Communication error. Delivery failed.
1010 Communication error. The request
was not delivered because FactoryTalk
Batch software does not subscribe to
receive the external request.
1020 FactoryTalk Batch software is not
attached to the phase.
04 0002 The FactoryTalk Batch software Check the connection and communication path to
encountered an error while processing FactoryTalk Batch software.
the request.
0003 The PXRQ instruction contains an
invalid value.
0004 FactoryTalk Batch software is not in
the proper state to process the
request.
0005 Two or more PXRQ instructions
executed at the same time using
different request types
0006 Error storing to parameter tags at end
of request processing.
05 0000 FactoryTalk Batch software received Check the connection and communication path to
the request but passed back an invalid FactoryTalk Batch software.
cookie.
06 0000 PXRQ instruction sent an invalid Check the connection and communication path to
parameter to FactoryTalk Batch FactoryTalk Batch software.
software.
07 0000 Communication lost while PXRQ is Check the connection and communication path to
waiting for response from the external FactoryTalk Batch software.
sequencer.
No

Major/Minor Faults
Execution

Example
Ladder Diagram

Structured Text
See also
Equipment Phase Failure This instruction applies to the CompactLogix 5370 and CompactLogix 5380,
(PFL) Compact GuardLogix 5380 controllers.
Use the PFL instruction as an optional method to signal a failure for an equipment
phase.
The PFL instruction sets the value of the failure code for an equipment phase. Use
the instruction to signal a specific failure for an equipment phase, such as a specific

device has faulted. The PFL instruction sets the failure code only to a value greater
than its current value.
Available Languages
Ladder Diagram
Function Block
Structured Text
PFL (Failure_Code);
Operands
Ladder Diagram

Failure_Code DINT immediate Value to set the failure code for the equipment phase.
tag If a negative failure code given, it evaluates as 0.

Structured Text
The operands are the same as those for the Ladder Diagram PFL instruction.
Guidelines for using the PFL Instruction
Guideline Details
Put the PFL The PFL instruction sets the failure code for the equipment phase in which the instruction is put. There
instruction in the is no operand to identify a specific equipment phase.
equipment Typically, put the PFL instruction in a prestate routine for the equipment phase.
phase.
• The controller always scans the prestate routine, even when an equipment phase is in the idle
state.
• The controller scans the prestate routine before each scan of a state.
Number Description
Prestate routine
Current state routine
Use the progress routine to continuously monitor the health of an equipment phase as it progresses
through its states.
Prioritize failure The PFL instruction sets the failure code only to a value greater than its current value.
codes. • For example, if a PFL instruction sets the failure code = 102, another PFL instruction can only set
the failure code > 102.
• Make sure to assign higher values to exceptions that require higher priority in their handling.
Otherwise, a lower priority exception may overwrite a more critical exception.

To take action The PFL instruction writes its value to the Failure member of the PHASE tag for the equipment phase.
when a failure
occurs, monitor
the Failure
member of the
PHASE tag.
Number Description
When creating an equipment phase, the Logix Designer application
creates a tag for the status of the equipment phase.
controller scope
Name = phase_name
PHASE data type
The PFL instruction writes its value to the failure member for the
equipment phase.
To clear the Use a PCLF instruction to clear the failure code of an equipment phase. Instructions such as a CLR or
failure code, use MOV will not change the failure code.
a PCLF
instruction.
No.
Major/Minor Faults
A major fault will occur if: Fault type Fault code

Instruction is called from outside an Equipment Phase 4 91
program.
See Index Through Arrays below for array-index faults.

Execution
conditions below the thick solid line can only occur during Normal Scan mode.

Example
Ladder Diagram
In the prestate routine of an equipment phase...
If the Drain_Valve.FaultAlarm = 1 (The valve did not go to the commander

state.) then
Failure code for the equipment phase = 102.
If Drain_Tank.Running = 1 (The Drain_Tank equipment phase is in the running

state.)
And Drain_Tank.Failure = 102 (failure code for the equipment phase)
Then
Change the state of the Drain_Tank equipment phase to holding via the hold
command.

Structured Text
In the prestate routine of an equipment phase...
See also
Equipment Phase New This instruction applies to the CompactLogix 5370 and CompactLogix 5380,
Parameters (PRNP) Compact GuardLogix 5380 controllers.
Use the PRNP instruction to clear the NewInputParameters bit of an equipment

phase.
The PRNP instruction clears the NewInputParameters bit of the equipment

phase.

Number Description
When FactoryTalk Batch software has new parameters for an equipment phase, it sets
the NewInputParameters bit for the phase.
After downloading the parameters, use the PRNP instruction to clear the bit.
Available Languages
Ladder Diagram
Function Block
Structured Text
PRNP ( );
Operands
Ladder Diagram
None
Structured Text
None
Enter the parentheses ( ) after the instruction mnemonic, even though there are no
operands.
No
Major/Minor Faults
Execution


Example
Ladder Diagram
Structured Text
If PRNPTest.NewInputParameters = 1 (FactoryTalk Batch software has new

input parameter for the equipment phase), then
If Enable_PXRQ = 1 (Let the PXRQ instruction execute.)

Or RQ_Control[0].PC = 0 (The PXRQ instruction is in process.), then
Datavalues[0] = this set the PXRQ instruction for transfer of control.
Send the Download Input Parameters Subset request to FactoryTalk
Batch software.
Send DataValues[0] = 2, the instruction is set for transfer of control.
Enable_PXRQ = 0 (Do no let the PXRQ instruction restart after the
request completes)

If RQ_Control[0].PC = 1 (The request is complete.), then

ThisPhase.NewInputParameters = 0 via the PRNP instruction
Otherwise
Enable_PXRQ = 1 (Let the PXRQ instruction execute the next time new
input parameters are available.)
See also
Equipment Phase Override This instruction applies to the CompactLogix 5370 and CompactLogix 5380,
Command (POVR) Compact GuardLogix 5380 controllers.
Use the POVR instruction to give a Hold, Stop, or Abort command to an

equipment phase, regardless of ownership.
The POVR instruction:
• Gives the Hold, Stop, or Abort command to an equipment phase.

• Overrides all owners of the equipment phase. The command works even if
Logix Designer software, HMI, FactoryTalk Batch software, or another
program already owns the equipment phase. This instruction does not
change the ownership of the equipment phase.
• High priority HMI ownership is specific only to CompactLogix 5370 and
Available Languages
Ladder Diagram
Function Block

Structured Text
POVR (PhaseName, Command, Result);
Operands
Ladder Diagram

Phase Name phase Name of the Equipment phase to change to a
equipment phase different state
Command command Name of the One of these commands for the
command equipment phase:
• Hold
• Stop
• Abort
Result DINT immediate To let the instruction return a code
tag for its success or failure, enter a DINT
tag in which to store the result code.
Otherwise, enter 0.
Structured Text
The operands are the same as those for the Ladder Diagram POVR instruction.
Guidelines for using the POVR Instruction
Guideline Details
If want to override other owners. Want the equipment to hold, stop, or abort even if have manual
control of the equipment phase via Logix Designer software?
• Yes - Use the POVR instruction
• No - Use the PCMD instruction
This also applies to HMI, FactoryTalk Batch software or other
programs. Use the POVR only to hold, stop, or abort, regardless of
ownership.
For example, suppose the equipment checks for jammed
material. If there is a jam, always abort the equipment. In that
case, use the POVR instruction. This way, the equipment aborts
even under manual control via Logix Designer software.
Limit execution of a POVR instruction to Limit the execution of the POVR instruction to a single scan. Each
a single scan. command applies to only a specific state or states. Once the
equipment phase changes state, the command is no longer valid.
To limit execution, use methods such as:
• Execute the POVR instruction within a P1 Pulse (Rising Edge)
or P0 Pulse (Falling Edge) action.
• Place a one shot instruction before the POVR instruction.
• Execute the POVR instruction and then advance to the next
step.

POVR Result Codes
If assigning a tag to store the result of a POVR instruction, the instruction returns

0 Successful command.
24577 Invalid command.

24578 Invalid command for the current state of the equipment phase. For example, if the
equipment phase is in the stopping state, then a hold command is not valid.
24594 Unscheduled or inhibited equipment phase or in an inhibited task.
No
Major/Minor Faults
Execution


Example
Number Description
The equipment program watches for the these faults:
• Faulted axis
• Jammed material
If there is a fault, then
Local_Interface.Equipment_Faults_Cleared = 0. This tag is an alias for the controller-scoped
tag Shear_1.
The prestate routine of the equipment phase watches for the equipment program to signal a fault.
• If Interface_To_Equipment.Equipment_Faults_Cleared=0 then there is a fault.
• Both Interface_To_Equipment and Local_Interface as aliases for Shear_1, so they have the same
values.
If there is a fault, then
Give the Shear_One_Phase equipment phase the abort command. The POVR instruction makes sure
the command works, even if someone has manual control of the equipment phase through Logix
Designer software.
The PFL instruction sets the failure code for Shear_One_Phase = 333.
The Fault_Strobe keeps these actions to a single scan.

Ladder Diagram
Example 2
Structured Text
If NOT Equipment_Faults_Cleared And NOT Fault_Strobe then
POVR(POVRTest,Abort, 0);
PFL(333);
end_if;
Fault_Strobe := NOT Equipment_Faults_Cleared;
See also
Equipment Phase Paused This instruction applies to the CompactLogix 5370 and CompactLogix 5380,
(PPD) Compact GuardLogix 5380 controllers.
Use the PPD instruction to set up breakpoints within the logic of an equipment
phase.

Pausing an equipment phase requires configuring break points by coding a PPD

instruction in a phase's state routine logic. The phase state routine pauses when
the PPD instruction executes and the phase receives a command to pause at its
next opportunity.
Three operator commands relate to the pause functionality:
• Pause: The Pause command enables or disables pausing execution of the

phase when the next PPD instruction executes. The Pause command toggles
the PauseEnabled bit ON (1) or OFF (0).
• AutoPause: The AutoPause command enables or disables automatically
enabling pausing the phase after processing a Resume command. The
AutoPause command toggles the AutoPauseEnabled bit ON (1) or OFF
(0).
• Resume: The Resume command directs the firmware to resume executing
the phase state routine logic. Resume sets the PauseEnabled and Paused bits
OFF (0).

The Pause substate uses these three bits:
• PauseEnabled: The PauseEnabled bit maintains the status of processing a

Pause command. This is bit 0 of the Pause substate.
When Paused is ON (1), execution of a PPD instruction pauses execution
of the state routine's logic. This bit updates when it receives a Pause
command (toggling the bit's value). Additionally, a Resume command sets
PauseEnabled OFF (0), if the AutoPauseEnabled bit is ON (1).
• AutoPauseEnabled: The AutoPauseEnabled bit maintains the status of

automatically enabling pausing immediately after a Resume command. This
is bit 2 of the Pause substate.
This bit updates when it receives an AutoPause command (toggling the bit's
value). When AutoPauseEnabled is ON (1) and the phase is Paused, the
Resume command leaves PauseEnabled ON (1).
• Paused: The Paused bit maintains the pause-state of the phase, Paused (1)
or not-Paused (0). This is bit 1 of the Pause substate. The Paused bit also
disables the rest of the rung (RLL), it does not terminate or suspend the
execution of the routine.
This bit is only set by the phase's firmware. When the PauseEnabled bit is
ON, execution of a PPD instruction causes the Paused bit to be set to
Paused (1) and firmware pauses execution of the phase state routine
suspends. A Resume command sets the Paused bit to not-Paused (0) and the
phase executes its logic.
Available Languages
Ladder Diagram
Function Block
Structured Text
PPD( );
Operands
Ladder Diagram
None

Structured Text
None
operands.
Guidelines for using the PPD Instruction
Guideline Details
Organize logic as a series of steps. PPD instructions (breakpoints) are easiest to use if the logic moves through
defined steps, such as a state machine or SFC.
• A breakpoint only signals that specific conditions are met. It does
not stop the execution of the equipment phase.
• To have logic actually break (pause) at a breakpoint, organize the logic
so that it stays at the step at which the breakpoint occurred until it
receives the resume command.
Do not use a PPD instruction as a temporary Even when an equipment phase pauses, it continues to execute all its logic.
end of the routine. • When a PPD instruction executes, it only sets the Paused bit for the
equipment phase.
• If programing the PPD instruction in RLL, it disables only the rest of the
logic on its rung. It does not terminate or suspend the execution of the
routine.
• Think of the PPD instruction as a condition that applies or is ignored
based on the auto pause and pause commands.
Use PPD instruction to pause at the same When the PauseEnabled bit is TRUE, an equipment phase goes to Paused at
breakpoint over several scans. the first PPD instruction whose conditions are true. If the PPD instruction
executes over several scans, the equipment phase may continually pause at
the same breakpoint.
Make sure only 1 PPD instruction at a time is A PPD instruction does not have a control tag to remember whether it
true. executed.
• Anytime its conditions are true (and the equipment phase is in a
substate with PauseEnabled True), the PPD instruction acts as a
breakpoint (and pauses the phase by disabling the rest of the logic on
the rung).
• Limiting logic to one possible breakpoint at a time ensures a pause at
the required breakpoint.
Choose the substate to use. PPD instructions (breakpoints) work only when the equipment phase
PauseEnabled bit is True.
To pause at: Give this command:
Each true breakpoint Auto Pause
First true breakpoint Pause
No

Major/Minor Faults
A major fault occurs if: Fault type Fault code

Instruction is called from outside an Equipment Phase 4 91
program.
If an Add-On Instruction uses a PPD instruction, and a non-equipment phase

program calls the Add-On Instruction, Logix Designer gives a warning. Check the
Add-On Instruction for this instruction to disallow it. See Index Through Arrays
for operand-related faults.
Execution

Example
Ladder Diagram
See also

Equipment Phase Command on page 427
Phase State Complete (PSC) This instruction applies to the CompactLogix 5370 and CompactLogix 5380,
Compact GuardLogix 5380 controllers.
Use the PSC instruction to signal an equipment phase that the state routine is
complete to indicate that it should go to the next state.
The PSC instruction signals the completion of a phase state routine.
In the running state routine, use the PSC instruction to transition the equipment
phase to the complete state.
Available Languages
Ladder Diagram
Function Block
Structured Text
PSC( );
Operands
Ladder Diagram
None

Structured Text
None
operands.
Guidelines for using the PSC Instruction
Guideline Details
Use the PSC instruction in each phase state routine that is added to an equipment phase. Without a PSC instruction, the
equipment phase remains in the state
and does not go to the next state.
• Place the PSC instruction as the
last step in the phase state routine.
• When the state is done (complete),
execute the PSC instruction.
In the holding state routine, use the
PSC instruction to let the equipment
phase go to the Held state
Remember that the PSC instruction does not stop the current scan of a routine. When the PSC instruction executes,
the controller scans the rest of the
routine and then transitions the
equipment phase to the next state.
The PSC instruction does not
terminate the execution of the
routine.
Do not use a PSC instruction in a prestate routine. Use the PSC instruction only to signal
the transition from one state to
another.
No

Major/Minor Faults
A major fault will occur if: Fault type Fault code

Instruction is called from outside an equipment phase 4 91
program.
If an Add-On Instruction used a PSC instruction and a non-equipment phase

program calls the Add-On Instruction, Logix Designer gives a warning. Check the
Add-On Instruction for this instruction and disallow it. See Index Through Arrays
for operand-related faults.
Execution
In structured text, instructions execute each time they are scanned. To limit the
scan of an instruction, use a qualifier of an SFC action, a structured text construct,
or both.


Examples
Ladder Diagram
Structured Text
If TagEnableRunning
And PSCTest.Running Then
PSC();
End_if;

See also
Equipment Phase Override Command (POVR) on page 451

Chapter 8
Equipment Sequence
Equipment Sequence The following table lists the command instructions for Equipment Sequences.
The instructions are available for routines that use the Ladder Diagram and the
instructions Structured Text programming languages. They are not available for use in routines
that use the Function Block and the Sequential Function Chart programming
languages.
Instruction Description Structured Text format

Attach to Equipment Sequence (SATT) Request that the parent program of the user SequenceName, Result
routine be the owner of the Equipment Sequence.
Detach from Equipment Sequence Release ownership of an Equipment Sequence. SequenceName
(SDET)
Equipment Sequence Command Send a command to the Equipment Sequence. SequenceName, Command,
(SCMD) Result
Equipment Sequence Clear Failure Clear the failure code of an Equipment Sequence. SequenceName
(SCLF)
Equipment Sequence Override (SOVR) Send a HOLD, STOP, or ABORT command to an SequenceName, Command,
Equipment Sequence, regardless of ownership. Result
Equipment Sequence Assign Sequence Assign an ID string to the Equipment Sequence. SequenceName, Sequence
Identifier (SASI) ID, Result
See also
Equipment Sequence Diagram instructions on page 476
SATT on page 465, SDET on page 468
SCMD on page 473, SCLF on page 471
SOVR on page 476, SASI on page 470
Attach to Equipment Use the Attach to Equipment Sequence (SATT) instruction to take ownership of
an Equipment Sequence. An Equipment Sequence must be owned by a program
Sequence (SATT) before the program can command it. A tag must be assigned to store the result
code of an SATT instruction.
The SATT instruction returns one of five result codes. Result code 0 indicates
that the SATT instruction ran successfully. The other four codes indicate that the
instruction did not run successfully and provide additional information about the
reason for the instruction failure.

Chapter 8 Equipment Sequence
Available Languages
Ladder Diagram
Function Block
This language is not available for this instruction.
Structured Text:
SATT(SequenceName,Result)
Operands
The SATT instruction uses the following operands.

Sequence Name Sequence name of the Equipment Equipment Sequence that you want to change to
Sequence own (attach) to command (for example,
Make_Product_101).
Result DINT immediate To let the instruction return a code for its success
tag or failure, enter a DINT tag in which the result
code is stored. Otherwise, enter 0.
No
Major/Minor Faults
The SATT instruction cannot trigger a fault, so there are no fault conditions for
this instruction.

Equipment Sequence Chapter 8
Execution
The following table describes the execution steps for SATT instructions.
Ladder Diagram

Rung-condition-in is true • The instruction executes.
• The rung-condition-out is set to true.
Scan of structured text No action taken
Instruction execution The instruction tries to take ownership of the
specified Equipment Sequence.
Structured Text

Rung-condition-in is false No action taken.
Rung-condition-in is true No action taken.
Scan of structured text In structured text, instructions execute each time
they are scanned. To limit the scan of an instruction,
use a qualifier of an SFC action or a structured text
construct.
Instruction execution The instruction tries to take ownership of the
specified Equipment Sequence.
See also
Guidelines for SATT instructions on page 479
Result codes for SATT instructions on page 481
SATT instruction examples on page 486
Equipment Sequence Instructions on page 465

Detach from Equipment Use the Detach from Equipment Sequence (SDET) instruction to relinquish
ownership of an Equipment Sequence. After a program executes an SDET
Sequence (SDET) instruction, the program no longer owns the Equipment Sequence. The
Equipment Sequence is then available for ownership by another program or by
FactoryTalk Batch software. Use the SDET instruction only if the program
previously took ownership of an Equipment Sequence through an Attach to
Equipment Sequence (SATT) instruction.
Available Languages
Ladder diagram
Function Block
This instruction is not available in Function Block.
Structured text
SDET(SequenceName)
Operands
The SDET instruction uses the following operand.

Sequence Name Sequence name of the Equipment Equipment Sequence for which you want to
Sequence relinquish ownership.
No
Major/Minor Faults
The SDET instruction cannot trigger a fault, so there are no fault conditions for
this instruction.
Execution
Ladder Diagram



Rung-condition-in is true The instruction executes.
The rung-condition-out is set to true.
Instruction execution The instruction tries to take ownership of the specified Equipment
Sequence.
Structured Text

Scan of structured text In structured text, instructions execute each time they are
scanned. To limit the scan of an instruction, use a qualifier of an
SFC action or a structured text construct that includes a condition,
such as if, then, or else
Sequence.
See also
SDET instruction examples on page 487

Equipment Sequence Assign Use the Assign Sequence Identifier (SASI) instruction to assign a sequence ID to
the Equipment Sequence. You can only set the sequence ID when the following
Sequence Identifier (SASI) prerequisites are met:
• The controller is online.

• The Equipment Sequence is in the IDLE state.
• You have taken ownership of the Equipment Sequence.
The sequence ID can be up to 82 characters in length, using the following

printable ASCII characters:
a-z, A-Z, 0-9, !"#$%&'()*+,-./:;<=>?@[\] ^_`{|}~ and space
Available Languages
Ladder Diagram
Function Block
Structured Text
SASI(SequenceName,SequenceID,SequenceIDValue,Result)
Operands
The SASI instruction uses the following operands.

Sequence Name Sequence name of the Equipment Equipment Sequence to which you want to assign an identifier.
Sequence
Sequence ID STRING tag Enter a STRING tag in which the identifier is stored, or a quoted
string containing up to 82 characters.
Result DINT immediate To let the instruction return a code for its success or failure, enter
tag a DINT tag in which the result code is stored. Otherwise, enter 0.
No

Major/Minor Faults
The SASI instruction cannot trigger a fault, so there are no fault conditions for
this instruction.
Execution
Ladder Diagram

Rung-condition-in is true • The instruction executes.
• The rung-condition-out is set to true.
Sequence.
Structured Text

Scan of structured text In structured text, instructions execute each time they are scanned. To
limit the scan of an instruction, use a qualifier of an SFC action or a
structured text construct.
Sequence.
See also
SASI instruction examples on page 485
Equipment Sequence Clear Use the Equipment Sequence Clear Failure (SCLF) instruction to clear the failure
code of an Equipment Sequence. Keep the following in mind when using the
Failure (SCLF) SCLF instruction.
• A CLR instruction, MOV instruction, or assignment does not change the

failure code of an Equipment Sequence.

• The Equipment Sequence cannot have other owners when you use the
SCLF instruction. The SCLF instruction does not clear the failure code if
the Logix Designer application, FactoryTalk Batch software, or another
program owns the Equipment Sequence.
• An Equipment Sequence refuses a RESUME command until it is cleared of
failures.
Available Languages
Ladder diagram
Function Block
Not available
Structured text
SCLF(SequenceName)
Operands
The SCLF instruction uses the following operands.

Sequence Name Sequence name of the Equipment Equipment Sequence for which you want to clear a failure code.
Sequence
Result DINT Immediate tag For an instruction to return a success or failure code, enter a DINT
tag where the result code is stored. Otherwise, enter 0.
No.
Major/Minor Faults
The SCLF instruction cannot trigger a fault, so there are no fault conditions for
this instruction.

Execution
Ladder Diagram

Sequence.
Structured Text

structured text construct that includes a condition, such as if, then, or else
Sequence.
See also
Result codes for SCLF instructions on page 482
SDET instruction examples on page 487
Equipment Sequence Use the Equipment Sequence command (SCMD) instruction to change the state
of an Equipment Sequence. The SCMD instruction can send the following
command (SCMD) commands to an Equipment Sequence: START, RESTART, HOLD, STOP,
ABORT, and RESET. The program must attach to an Equipment Sequence
before the SCMD instruction can run. Use the SATT instruction to attach to an
Equipment Sequence.
Like the SCMD instruction, the Equipment Sequence Override instruction

(SOVR) also changes the state of an Equipment Sequence, but it changes the state

regardless of ownership. If the SCMD instruction must execute regardless of

ownership, use an SOVR instruction instead of an SCMD instruction.
Important: The SOVR instruction is intended for emergencies only. Control Engineers should use
caution when deciding to use it.
When a tag is assigned to store the result of an SCMD instruction, the instruction
returns one of five result codes when it runs. Result code 0 indicates that the
SCMD instruction ran successfully. The other four codes indicate that the
Available Languages
The SCMD instruction is available in the following languages.
Ladder Diagram
Function Block
Structured Text
SCMD(SequenceName,Command,Result)
Supported Operands
The SCMD instruction uses the following operands.

Sequence Name Sequence Name of the Equipment Equipment Sequence to change to a different state. For
Sequence example, Make_Product_101.
Command Command Name of the command Command to send to the Equipment Sequence and change
state. Send one of these commands: START, RESTART, HOLD,
STOP, ABORT, or RESET.
Result DINT Immediate tag For an instruction to return a success or failure code, enter a
DINT tag where the result code is stored. Otherwise, enter 0.

Valid command states for the SCMD instruction
Use the SCMD instruction transitions to command an Equipment Sequence to

another state. The SCMD instruction commands may only be processed in certain
states. The following table lists the states in which commands are valid.
Command Valid in these states

START Valid in the IDLE state.
RESTART Valid in the HELD state.
HOLD Valid in the RUNNING and RESTARTING states.
STOP Valid in the RUNNING, HOLDING, RESTARTING, and HELD states.
ABORT Valid in the RUNNING, HOLDING, RESTARTING, STOPPING, and HELD states.
RESET Valid in the ABORTED, STOPPED, and COMPLETE states.
Arithmetic status flags and fault conditions
Arithmetic status flags are not affected by the SCMD instruction. The SCMD
instruction cannot trigger a fault, so there are no fault conditions for this
instruction.
Execution
Ladder Diagram

Sequence.
Structured Text

structured text construct.
Sequence.


See also
SCMD instruction examples on page 487
Use an SOVR instruction instead of an SCMD instruction on page 489
Result codes for SCMD instructions on page 483
Guidelines for SCMD instructions on page 480
Equipment Sequence The following table describes the Equipment Sequence Diagram instructions.
Diagram instructions
Icon Icon Name Description
Add Step and Transition Pair Use Add Step and Transition Pair to add a step and transition pair.
Although added as a pair, you can select and edit each element separately.
Add Disconnected Step Use the Add Disconnected Step to add a step without adding a transition.
Add Disconnected Transition Use Add Disconnected Transition to add a transition without adding a step.
Add Simultaneous Divergence Use Add Simultaneous Divergence to create a branch where all linked
steps execute simultaneously.
Add Selective Divergence Use Add Selective Divergence to create a divergence for a selective
branch. In a selective divergence, only one of multiple paths is executed--the path
containing the transition that first evaluates as TRUE.
Add Simultaneous Convergence Use Add Simultaneous Convergence to merge simultaneous execution
paths back together.
Add Selective Convergence Use Add Selective Convergence to merge selective divergent paths back
into one execution path in the selective branch.
See also
Equipment Sequence instructions on page 465
Equipment Sequence Use the Equipment Sequence Override (SOVR) instruction to send a HOLD,
STOP, or ABORT command to an Equipment Sequence, regardless of
Override (SOVR) ownership.
When a tag is assigned to store the result of an SOVR instruction, the instruction
returns one of five result codes when it runs. Result code 0 indicates that the

SOVR instruction ran successfully. The other four codes indicate that the
Available Languages
Ladder Diagram
Function Block
Structured Text
SOVR(SequenceName,Command,Result)
Operands
The SOVR instruction uses the following operands.

Sequence Name Sequence Name of the Equipment Equipment Sequence to change to a different state. For
Sequence example, Make_Product_101.
Command Command Name of the command Command to send to the Equipment Sequence and change
state. Use one of these commands:
• HOLD
• STOP
• ABORT
Result DINT Immediate tag For an instruction to return a success or failure code, enter a
DINT tag where the result code is stored. Otherwise, enter 0.
No.
Major/Minor Faults
The SOVR instruction cannot trigger a fault, so there are no fault conditions for
this instruction.

Execution
Ladder Diagram

Instruction execution The instruction commands the Equipment Sequence to the specified state.
Structured Text

structured text construct that includes a condition, such as if, then, or else.
Instruction execution The instruction commands the Equipment Sequence to the specified state.
The SOVR instruction sends one of the following commands: HOLD, STOP,
or ABORT.
See also
Guidelines for SOVR instructions on page 480
Result codes for SOVR instructions on page 484
SOVR instruction examples on page 488
When should I use an SOVR instruction instead of an SCMD instruction?

on page 489

Guidelines for SATT Keep the following guidelines in mind when using the Attach to Equipment
Sequence (SATT) instruction.
instructions
Guideline Details
Remember that the Logix Designer application Ownership makes sure that a program can command the
overrides ownership of the Equipment Sequence. Equipment Sequence, and it locks out any other sequencers.
The Equipment Sequence must be owned by the Both Equipment Sequences and Equipment Phases must
program to command it. be owned to be commanded. The ownership commands
are Attach (SATT) and Detach (SDET).
Internal sequencers (programs), external sequencers (FactoryTalk
Batch), and operators use an Attach instruction to command an
Equipment Sequence.
When the sequence is done, relinquish ownership. To relinquish ownership, use a Detach from Equipment Sequence
(SDET) instruction.
Avoid making unnecessary command requests if the Unnecessary command requests can flood the event processing
equipment sequence is generating sequence events. buffers and cause you to miss significant events.
Use the Result code to verify ownership, and include Use the Result operand to get a code that shows the success or
steps that should take place if the attachment fails failure of the SATT instruction.
because the Equipment Sequence is owned by another On each execution, the SATT instruction tries to take ownership of
program or by the operator. the Equipment Sequence. When a program or operator owns an
Equipment Sequence, another execution of the SATT instruction
fails and produces result code 24582. When you use the SATT
instruction, either:
• Limit its execution to a single scan to avoid the 24582 result
code.
• Include the following in your conditions for ownership: result
code = 24582.
See also
Attach to Equipment Sequence on page 465

Guidelines for SCMD Keep the following guidelines in mind when using the Equipment Sequence
Command (SCMD) instruction. The SCMD instruction can send the following
instructions commands: START, RESTART, HOLD, STOP, ABORT, and RESET.
Guideline Details
Limit execution of the SCMD instruction to a Limit the execution of the SCMD instruction to a single scan. Each command
single scan. applies to only a specific state or states. Once the Equipment Sequence
changes state, the command is no longer valid. To limit execution, use
methods such as:
• Run the SCMD instruction within a P1 Pulse (Rising Edge) or P0 Pulse
(Falling Edge) action.
• Place a one-shot instruction before the SCMD instruction.
• Run the SCMD instruction and then advance to the next step.
The Equipment Sequence must be owned by Both Equipment Sequences and Equipment Phases must be owned to be
the program to command it. commanded. The ownership commands are Attach (SATT)
and Detach (SDET).
Internal sequencers (programs), external sequencers (FactoryTalk Batch),
and operators use an Attach instruction to command an Equipment
Sequence.
See also
Equipment Sequence command (SCMD) on page 473

on page 489
Use the Equipment Sequence Override (SOVR) instruction to send a HOLD,

Guidelines for SOVR
STOP, or ABORT command to an Equipment Sequence, regardless of ownership.
instructions
Keep the following guidelines in mind when using the Equipment Sequence
Override (SOVR) instruction.
Guideline Details
Make sure you want to override other Under most circumstances, use the SCMD instruction to programmatically
owners. command an Equipment Sequence. However, use the SOVR instruction to
command an Equipment Sequence under the following conditions:
• When you are giving the HOLD, STOP, or ABORT command, and the command
must always execute under all ownership circumstances.
• If the HOLD, STOP, or ABORT command must execute even when you have
manual control of the Equipment Sequence through the Logix Designer
application or when another program, such as the FactoryTalk Batch software,
owns the Equipment Sequence.

Limit execution of the SOVR instruction to a Limit the execution of the SOVR instruction to a single scan. Each command
single scan. applies to only a specific state or states. Once the Equipment Sequence changes
state, the command is no longer valid. To limit execution, use methods such as:
• Run the SOVR instruction within a P1 Pulse (Rising Edge) or P0 Pulse (Falling
Edge) action.
• Place a one-shot instruction before the SOVR instruction.
• Run the SOVR instruction and then advance to the next step.
Avoid making unnecessary command Unnecessary command requests can flood the event processing buffers and cause
requests if the Equipment Sequence is you to miss significant events.
generating sequence events.
See also
Equipment Sequence Override command on page 476
Result codes for SOVR instructions on page 484

on page 489
Result codes for SATT When a tag is assigned to store the result of an Attach to Equipment Sequence
(SATT) instruction, the instruction returns one of the following codes when it
instructions runs.

24579 The Equipment Sequence cannot be commanded for the following reason:
The program successfully attached to the Equipment Sequence, but it cannot command the sequence because Logix
Designer, a higher priority application, has overridden ownership.
24582 The program already owns the Equipment Sequence.
24593 One of the following already owns the equipment phase.
• An external sequencer such as FactoryTalk Batch software.
• Another program in the controller.
24594 The Equipment Sequence is unscheduled, inhibited, or in a task that is inhibited.
Use the Result operand to get a code that shows the success or failure of the
SATT instruction. The Result operand should contain either 0 or a DINT tag,
depending on whether ownership conflicts or other errors are likely to occur.
• If ownership conflicts or other errors are not likely, enter 0 in the Result
operand.
• If ownership conflicts or other errors are likely, enter a DINT tag in
the Result operand. The DINT tag stores a code for the result of the

See also
Result codes for SCLF When a tag is assigned to store the result of an Equipment Sequence Clear Failure
(SCLF) instruction, the instruction returns one of the following codes when it
instructions executes.

48 The command was not executed because it was not possible at the time to generate an event to record the
command.
• If the command was an ABORT command, the ABORT command is still executed even if the event could not be
generated.
• This code only occurs if event generation has been enabled in the Equipment Sequence Properties -
Configuration tab.
24578 The command is not valid for the current state of the Equipment Sequence. For example, if the Equipment Sequence
is stopped, then a stop command is not valid.
Use the Result operand to get a code that shows the success or failure of the SCLF
instruction. The Result operand should contain either 0 or a DINT tag,
operand.
See also
Equipment Sequence Clear Failure on page 471

Result codes for SCMD When a tag is assigned to store the result of an Equipment Sequence command
(SCMD) instruction, the instruction returns one of these codes when it runs.
instructions
48 The command was not executed because it was not possible at the time to generate an event to
record the command.
• If the command was an ABORT command, the ABORT command is still executed even if the event
could not be generated.
• This code only occurs if event generation has been enabled in the Equipment Sequence
Properties - Configuration tab.
24577 The command is not valid.
24578 The command is not valid for the current state of the Equipment Sequence. For example, if the
Equipment Sequence is in the running state, then a start command is not valid.
24579 The Equipment Sequence cannot be commanded for the following reason:
• The program successfully attached to the Equipment Sequence, but it cannot command the
sequence because Logix Designer, a higher priority application, has overridden ownership.
24582 Attachment to the Equipment Sequence failed because the sequence was previously attached to one
of the following users:
• An external sequencer, such as FactoryTalk Batch software, has ownership.
• Another program in the controller (an internal sequencer) has ownership.
• An operator using the Sequence Manager ActiveX Controls has ownership.
24580 The caller of the instruction is attached, but is not the current owner of the Equipment Sequence. A
higher priority owner, such as Logix Designer, is commanding the Equipment Sequence.
24604 An equal or higher priority command is being processed.
24631 Too many sequence parameter or step tags are defined per step, so events cannot be handled and
the START command failed.
SCMD instruction. The Result operand should contain either 0 or a DINT tag,
operand.
See also
Equipment Sequence command on page 473

Result codes for SOVR When a tag is assigned to store the result of an Equipment Sequence Override
(SOVR) instruction, the instruction returns one of the following codes when it
instructions executes.

48 The command was not executed because it was not possible at the time to generate an event to record the
command.
• If the command was an ABORT command, the ABORT command is still executed even if the event could not be
generated.
• This code only occurs if event generation has been enabled in the Equipment Sequence Properties -
Configuration tab.
24577 The command is not valid.
24578 The command is not valid for the current state of the Equipment Sequence. For example, if the Equipment Sequence
is stopped, then a stop command is not valid.
SOVR instruction. The Result operand should contain either 0 or a DINT tag,
operand.
See also

SASI instruction examples The following example shows the SASI instruction as it appears in a ladder
diagram and in structured text.
Ladder Diagram Example
Tip: The Sequence ID parameter can be a STRING tag in which the identifier is stored, or
a quoted string containing up to 82 characters.
Structured Text Example
if (IdControl) then
SASI (Make_Product_101, NewId, Results);
end_if;
See also
Equipment Sequence Assign Sequence Identifier on page 470

SATT instruction examples The following examples show the SATT instruction as it appears in a Ladder
Diagram and in Structured Text.
Ladder Diagram
Structured Text
if (AttachControl) then
SATT (Make_Product_101, Result);
end_if;
See also
Guidelines for SATT instructions on page 479
SCLF instruction examples The following examples show the SCLF instruction as it appears in a ladder
Ladder Diagram Example
Structured Text Example
if (ClearFailureControl) then
SCLF (Make_Product_101);
end_if;

See also
Equipment Sequence Clear Failure on page 471
SCMD instruction examples The following examples show the Equipment Sequence command (SCMD)
instruction as it appears in a Ladder Diagram and in Structured Text.
Ladder Diagram
Structured Text
if (HoldControl) then
SCMD (Make_Product_101), Hold, Result);
end_if;
See also
SDET instruction examples The following examples show the SDET instruction as it appears in a ladder
Ladder Diagram

Structured Text
if (DetachControl) then
SDET (Make_Product_101);
end_if;
See also
Detach from Equipment Sequence on page 468
Equipment Sequence instructions on page 465
SOVR instruction examples The following examples show the SOVR instruction as it appears in a Ladder
Diagram and in Structured Text.
Ladder Diagram
Structured Text
if (StopControl) then
SOVR (Make_Product_101, Stop, Results);
end_if;
See also

When should I use an SOVR Under most circumstances, use the SCMD instruction to programmatically
command an Equipment Sequence. However, use the SOVR instruction to
instruction instead of an command an Equipment Sequence under the following conditions:
SCMD instruction?
• When you are giving the HOLD, STOP, or ABORT command, and the
command must always execute under all ownership circumstances.
• If the HOLD, STOP, or ABORT command must execute even when you
have manual control of the Equipment Sequence through the Logix
Designer application or when another program, such as the FactoryTalk
Batch software, owns the Equipment Sequence.
For example, suppose your equipment checks for jammed material. If there is a
jam, you always want the equipment to abort. In that case, use the SOVR
instruction. This way, the equipment aborts even if you have manual control
through the Logix Designer application.
See also

Chapter 9
Function Block Attributes
Click a topic below for more information on issues that are unique to function
block programming. Review this information to make sure you understand how
your function block routines will operate.
See also
Choose the Function Block Elements on page 492
Latching Data on page 493
Order of Execution on page 495
Function Block Responses to Overflow Conditions on page 494
Timing Modes on page 499
Program/Operator Control on page 502

Chapter 9 Function Block Attributes
Choose the Function To control a device, use these elements:
Block Elements
Use the following table to help you choose your function block elements:
If you want to supply a value from an input device or tag Then use a input reference (IREF)
Send a value to an output device or tag Output reference (OREF)
Perform an operation on an input value or values and produce an output value Function block
or values.
Transfer data between function blocks when they are: Output wire connector (OCON) and an input wire connector (ICON)
• Far apart on the same sheet
• On different sheets within the same routine
Disperse data to several points in the routine Single output wire connector (OCON) and multiple input wire connectors
(ICON)
The function block moves the input references into the block structure. If
necessary, the function block converts those input references to REAL values. The
function block executes and moves the results into the output references. Again, if
necessary, the function block converts those result values from REAL to the data
types for the output references.

Function Block Attributes Chapter 9
Latching Data If you use an IREF to specify input data for a function block instruction, the data
in that IREF is latched for the scan of the function block routine. The IREF
latches data from program-scoped and controller-scoped tags. The controller
updates all IREF data at the beginning of each scan.
In this example, the value of tagA is stored at the beginning of the routine’s
execution. The stored value is used when Block_01 executes. The same stored
value is also used when Blcock_02 executes. If the value of tagA changes during
execution of the routine, the stored value of tagA in the IREF does not change
until the next execution of the routine.
This example is the same as the one above. The value of tagA is stored only once at
the beginning of the routine’s execution. The routine uses this stored value
throughout the routine.
You can use the same tag in multiple IREFs and an OREF in the same routine.
Because the values of tags in IREFs are latched every scan through the routine, all
IREFs will use the same value, even if an OREF obtains a different tag value during
In this example, if tagA has a value of 25.4 when the routine starts executing this
scan, and Block_01 changes the value of tagA to 50.9, the second IREF wired into

Block_02 will still use a value of 25.4 when Block_02 executes this scan. The new
tagA value of 50.9 will not be used by any IREFs in this routine until the start of
the next scan.
Function Block Responses In general, the function block instructions that maintain history do not update
history with NAN, or INF values when an overflow occurs. Each
to Overflow Conditions instruction has one of these responses to an overflow condition.
Response Instruction
Response 1 ALM NTCH
Blocks execute their algorithm and check the result for DEDT PMUL
NAN or INF. If NAN or INF, the block outputs DERV POSP
NAN or INF. ESEL RLIM
FGEN RMPS
HPF SCRV
LDL2 SEL
LDLG SNEG
LPF SRTP
MAVE SSUM
MAXC TOT
MINC UPDN
MSTD
MUX
Response 2 HLL, INTG, PI, PIDE, SCL, SOC
Blocks with output limiting execute their algorithm and check the result for
NAN or INF. The output limits are defined by the HighLimit and
LowLimit input parameters. If INF, the block outputs a limited result. If
NAN, the output limits are not used and the block outputs NAN.
Response 3 BAND, BNOT, BOR, BXOR, CUTD, D2SD, D3SD,
The overflow condition does not apply. These instructions typically have a DFF, JKFF, OSFI, OSRI, RESD, RTOR, SETD,
boolean output. TOFR, TONR

Order of Execution The Logix Designer programming application automatically determines the order
of execution for the function blocks in a routine when you:
• verify a function block routine

• verify a project that contains a function block routine
• download a project that contains a function block routine
You define execution order by wiring function blocks together and indicating the
data flow of any feedback wires, if necessary.
If function blocks are not wired together, it does not matter which block executes
first. There is no data flow between the blocks
If you wire the blocks sequentially, the execution order moves from input to
output. The inputs of a block require data to be available before the controller can
execute that block. For example, block 2 has to execute before block 3 because the
outputs of block 2 feed the inputs of block 3.
Execution order is only relative to the blocks that are wired together. The
following example is fine because the two groups of blocks are not wired together.

The blocks within a specific group execute in the appropriate order in relation to
the blocks in that group.
Resolve a Loop
To create a feedback loop around a block, wire an output pin of the block to an
input pin of the same block. The following example is OK. The loop contains only
a single block, so execution order does not matter.
If a group of blocks are in a loop, the controller cannot determine which block to
execute first. In other words, it cannot resolve the loop.
To identify which block to execute first, mark the input wire that creates the loop
(the feedback wire) with the Assume Data Available indicator. In the following

example, block 1 uses the output from block 3 that was produced in the previous
The Assume Data Available indicator defines the data flow within the loop. The
arrow indicates that the data serves as input to the first block in the loop.
Do not mark all the wires of a loop with the Assume Data Available indicator.

Resolve Data Flow Between Two Blocks
If you use two or more wires to connect two blocks, use the same data flow
indicators for all of the wires between the two blocks.
Create a One Scan Delay
To produce a one scan delay between blocks, use the Assume Data Available
indicator. In the following example, block 1 executes first. It uses the output from
block 2 that was produced in the previous scan of the routine.
Summary
In summary, a function block routine executes in this order:
1. The controller latches all data values in IREFs.

2. The controller executes the other function blocks in the order determined
by how they are wired.
3. The controller writes outputs in OREFs.
Timing Modes These process control and drives instructions support different timing modes.
• DEDT • LDLG • RLIM

• DERV • LPF • SCRV
• HPF • NTCH • SOC
• INTG • PI • TOT
• LDL2 • PIDE
There are three different timing modes.
Timing Mode Description

Periodic Periodic mode is the default mode and is suitable for most control applications. We recommend
that you place the instructions that use this mode in a routine that executes in a periodic task. The
delta time (DeltaT) for the instruction is determined as follows:
If the instruction executes in a Then DeltaT equals
Periodic task Period of the task
Event or continuous task Elapsed time since the previous execution
The controller truncates the elapsed time to whole
milliseconds (ms). For example, if the elapsed time =
10.5 ms, the controller sets DeltaT = 10 ms.
The update of the process input needs to be synchronized with the execution of the task or
sampled 5-10 times faster than the task executes in order to minimize the sampling error between
the input and the instruction.
Oversample In oversample mode, the delta time (DeltaT) used by the instruction is the value written into the
OversampleDT parameter of the instruction. If the process input has a time stamp value, use the
real time sampling mode instead.
Add logic to your program to control when the instruction executes. For example, you can use a
timer set to the OversampleDeltaT value to control the execution by using the EnableIn input of
the instruction.
The process input needs to be sampled 5-10 times faster than the instruction is executed in order
to minimize the sampling error between the input and the instruction.
Real time sampling In the real time sampling mode, the delta time (DeltaT) used by the instruction is the difference
between two time stamp values that correspond to the updates of the process input. Use this
mode when the process input has a time stamp associated with its updates and you need precise
coordination.
The time stamp value is read from the tag name entered for the RTSTimeStamp parameter of the
instruction. Normally this tag name is a parameter on the input module associated with the
process input.
The instruction compares the configured RTSTime value (expected update period) against the
calculated DeltaT to determine if every update of the process input is being read by the instruction.
If DeltaT is not within 1 millisecond of the configuration time, the instruction sets the RTSMissed
status bit to indicate that a problem exists reading updates for the input on the module.
Time-based instructions require a constant value for DeltaT in order for the
control algorithm to properly calculate the process output. If DeltaT varies, a

discontinuity occurs in the process output. The severity of the discontinuity

depends on the instruction and range over which DeltaT varies.
A discontinuity occurs if the following happens:
• Instruction is not executed during a scan.

• Instruction is executed multiple times during a task.
• Task is running and the task scan rate or the sample time of the process
input changes.
• User changes the time-base mode while the task is running.
• Order parameter is changed on a filter block while the task is running.
• Changing the Order parameter selects a different control algorithm within
the instruction.
Common Instruction Parameters for Timing Modes
The instructions that support time-base modes have these input and output
parameters.
Input Parameters

Value: Description:
0 Periodic mode
1 Oversample mode
2 Real time sampling mode
Valid = 0 to 2
Default = 0
When TimingMode = 0 and task is periodic, periodic timing is
enabled and DeltaT is set to the task scan rate. When
TimingMode = 0 and task is event or continuous, periodic timing
is enabled and DeltaT is set equal to the elapsed time span since
the last time the instruction was executed.
When TimingMode = 1, oversample timing is enabled and
DeltaT is set to the value of the OversampleDT parameter. When
TimingMode = 2, real time sampling timing is enabled and
DeltaT is the difference between the current and previous time
stamp values read from the module associated with the input.
If TimingMode invalid, the instruction sets the appropriate bit in
Status.
OversampleDT REAL Execution time for oversample timing. The value used for DeltaT
is in seconds. If TimingMode = 1, then OversampleDT = 0.0
disables the execution of the control algorithm. If invalid, the
instruction sets DeltaT = 0.0 and sets the appropriate bit in
Status.
Default = 0.0

RTSTime DINT Module update period for real time sampling timing. The
expected DeltaT update period is in milliseconds. The update
period is normally the value that was used to configure the
module’s update time. If invalid, the instruction sets the
appropriate bit in Status and disables RTSMissed checking.
Valid = 1…32,767ms
Default = 1
RTSTimeStamp DINT Module time stamp value for real time sampling timing. The
time stamp value that corresponds to the last update of the input
signal. This value is used to calculate DeltaT. If invalid, the
instruction sets the appropriate bit in Status, disables execution
of the control algorithm, and disables RTSMissed checking.
Valid =0…32,767ms (wraps from 32767 to 0)
1 count = 1 millisecond
Default = 0
Output Parameters

output.
Periodic: DeltaT = task scan rate if task is Periodic task, DeltaT =
elapsed time since previous instruction execution if task is Event
or Continuous task
Oversample: DeltaT = OversampleDT
Real Time Sampling: DeltaT = (RTSTimeStampn -
RTSTimeStampn-1)
RTSMissed (Status.28) BOOL Only used in real time sampling mode. Set when ABS | DeltaT -
RTSTime | > 1 (.001 second).

Overview of Timing Modes
The following diagram shows how an instruction determines the appropriate

timing mode.
Program/Operator Control The following instructions support the concept of Program/Operator control.
• Enhanced Select (ESEL)

• Totalizer (TOT)
• Enhanced PID (PIDE)
• Ramp/Soak (RMPS)
• Discrete 2-State Device (D2SD)
Program/Operator control lets you control these instructions simultaneously

from both your user program and from an operator interface device. When in
Program control, the instruction is controlled by the Program inputs to the
instruction; when in Operator control, the instruction is controlled by the
Operator inputs to the instruction.
Program or Operator control is determined by using these inputs.

Input Description
.ProgProgReq A program request to go to Program control.
.ProgOperReq A program request to go to Operator control.
.OperProgReq An operator request to go to Program control.
.OperOperReq An operator request to go to Operator control.
To determine whether an instruction is in Program or Operator control, examine

the ProgOper output. If ProgOper is set, the instruction is in Program control; if
ProgOper is cleared, the instruction is in Operator control.
Operator control takes precedence over Program control if both input request bits
are set. For example, if ProgProgReq and ProgOperReq are both set, the
instruction goes to Operator control.
The Program request inputs take precedence over the Operator request inputs.
This provides the capability to use the ProgProgReq and ProgOperReq inputs to
‘lock’ an instruction in a desired control.
For example, let’s assume that a Totalizer instruction will always be used in
Operator control, and your user program will never control the running or
stopping of the Totalizer. In this case, you could wire a literal value of 1 into the
ProgOperReq. This would prevent the operator from ever putting the Totalizer
into Program control by setting the OperProgReq from an operator interface
device.
Likewise, constantly setting the ProgProgReq can ‘lock’ the instruction into
Program control. This is useful for automatic startup sequences when you want
the program to control the action of the instruction without worrying about an
operator inadvertently taking control of the instruction.
In this example, you have the program set the ProgProgReq input during the
startup, and then clear the ProgProgReq input once the startup was complete.
Once the ProgProgReq input is cleared, the instruction remains in Program

control until it receives a request to change. For example, the operator could set
the OperOperReq input from a faceplate to take over control of that instruction.
The following example shows how to lock an instruction into Program control.
Operator request inputs to an instruction are always cleared by the instruction

when it executes. This allows operator interfaces to work with these instructions
by merely setting the desired mode request bit. You don’t have to program the
operator interface to reset the request bits. For example, if an operator interface
sets the OperAutoReq input to a PIDE instruction, when the PIDE instruction
executes, it determines what the appropriate response should be and clears the
OperAutoReq.
Program request inputs are not normally cleared by the instruction because these
are normally wired as inputs into the instruction. If the instruction clears these
inputs, the input would just get set again by the wired input. There might be
situations where you want to use other logic to set the Program requests in such a
manner that you want the Program requests to be cleared by the instruction. In
this case, you can set the ProgValueReset input and the instruction will always
clear the Program mode request inputs when it executes.

In this example, a rung of ladder logic in another routine is used to one-shot latch
a ProgAutoReq to a PIDE instruction when a push button is pushed.
When the TIC101AutoReq push button is pressed, one-shot latch ProgAutoReq

for the PIDE instruction TIC101. TIC101 has been configured with the
ProgValueReset input set. ProgAutoReq get reset because ProgValuieReset is
always set.
Function Block States Logix-based controllers evaluate function block instructions based on the state of
different conditions:
Condition Description
prescan Prescan for function block routines is the same as for ladder diagram routines. The only
difference is that the EnableIn parameter for each function block instruction is cleared during
prescan.
instruction first scan Instruction first scan refers to the first time an instruction is executed after prescan. The
controller uses instruction first scan to read current inputs and determine the appropriate
state to be in.
instruction first run Instruction first run refers to the first time the instruction executes with a new instance of a
data structure. The controller uses instruction first run to generate coefficients and other data
stores that do not change for a function block after initial download.
Every function block instruction also included EnableIn and EnableOut

parameters:
• Function block instructions execute normally when EnableIn is set.

• When EnableIn is cleared, the function block instruction either executes
prescan logic, postscan logic, or simply skips normal algorithm execution.
• EnableOut mirrors EnableIn. However, if Function Block detects an
overflow condition, EnableOut is also cleared.
• Function Block resumes from where it left off when EnableIn toggles from
cleared to set. However, there are some function block instructions that
specify special functionality (for example, re-initialization) when EnableIn
toggles from cleared to set. For function block instructions with time base
parameters, whenever the timing mode is Oversample, the instruction
always resumes from where it left off when EnableIn toggles from cleared to
set.

If the EnableIn parameter is not wired, the instruction always executes as normal
and EnableIn remains set. If you clear EnableIn, it changes to set the next time the
instruction executes.

Chapter 10
Structured Text Programming
These are the issues that are unique with structured text programming. Review the
following topics to make sure you understand how your structured text
programming executes.
Structured Text Components: Comments on page 509
Structured Text Components: Assignments on page 510
Structured Text Components: Expressions on page 513
Structured Text Components: Instructions on page 519
Structured Text Components: Constructs on page 520
CASE...OF on page 523
FOR...DO on page 525
IF...THEN on page 527
REPEAT_UNTIL on page 530
WHILE_DO on page 533

Chapter 10 Structured Text Programming
Structured Text Syntax Structured text is a textual programming language that uses statements to define
what to execute.
• Structured text is not case sensitive.

• Use tabs and carriage returns (separate lines) to make your structured text
easier to read. They have no effect on the execution of the structured text.
Structured text is not case sensitive. Structured text can contain these
components.
Term Definition Examples

Assignment Use an assignment statement to assign values to tags. The := operator tag := expression;
is the assignment operator.
Terminate the assignment with a semi colon ‘;.’
Expression An expression is part of a complete assignment or construct
statement. An expression evaluates to a number (numerical
expression), a String (string expression), or to a true or false state
(BOOL expression)
Tag Expression A named area of the memory where data is stored (BOOL, SINT, INT, value1
DINT, REAL, String).
Immediate A constant value 4
Expression
Operators A symbol or mnemonic that specifies an operation within an tag1 + tag2
Expression expression. tag1 >= value1
Function Expression When executed, a function yields one value. Use parentheses to function(tag1)
contain the operand of a function.
Even though their syntax is similar, functions differ from instructions
in that functions can be used only in expressions. Instructions cannot
be used in expressions.
Instruction An instruction is a standalone statement. instruction();
An instruction uses parentheses to contain its operands.
Depending on the instruction, there can be zero, one, or multiple instruction(operand);
operands.
When executed, an instruction yields one or more values that are part instruction(operand1,
of a data structure. Terminate the instruction with a semi colon(;). operand2,operand3);
Even though their syntax is similar, instructions differ from functions
in that instructions cannot be used in expressions. Functions can be
used only in expressions.
Construct A conditional statement used to trigger structured text code (that is, IF...THEN CASE FOR...DO
other statements). Terminate the construct with a semi colon (;). WHILE...DO
REPEAT...UNTIL
EXIT
Comment Text that explains or clarifies what a section of structured text does. //comment
Use comments to make it easier to interpret the structured text.
Comments do not affect the execution of the structured text. (*start of comment . . . end
Comments can appear anywhere in structured text. of comment*)
/*start of comment . . . end

of comment*/

Structured Text Programming Chapter 10
See also
Structured Text Components: Instructions on page 519
Structured Text To make your structured text easier to interpret, add comments to it.
Components: Comments • Comments let you use plain language to describe how your structured text
works.
• Comments do not affect the execution of the structured text.
To add comments to your structured text:
To add a comment Use one of these formats

on a single line //comment
(*comment*)
at the end of a line of structured text /*comment*/
within a line of structured text (*comment*)
/*comment*/
that spans more than one line (*start of comment. . .end of comment*)
/*start of comment. . .end of comment*/

For example:
Format Example
//comment At the beginning of a line
//Check conveyor belt direction
IF conveyor_direction THEN...
At the end of a line
ELSE //If conveyor isn’t moving, set alarm light
light := 1;
END_IF;
(*comment*) Sugar.Inlet[:=]1;(*open the inlet*)

IF Sugar.Low (*low level LS*)& Sugar.High (*high level LS*)THEN...
(*Controls the speed of the recirculation pump. The speed depends on the temperature in the tank.*)
IF tank.temp > 200 THEN...
/*comment*/ Sugar.Inlet:=0;/*close the inlet*/
IF bar_code=65 /*A*/ THEN...
/*Gets the number of elements in the Inventory array and stores the value in the Inventory_Items tag*/
SIZE(Inventory,0,Inventory_Items);
Structured Text Use an assignment to change the value stored within a tag. An assignment has this
syntax:
Components:
Assignments tag := expression;
where:
Component Description
Tag Represents the tag that is getting the new value; the tag must be a BOOL, SINT, INT, DINT,
STRING, or REAL.
Tip: The STRING tag is applicable to CompactLogix 5380, CompactLogix 5480, ControlLogix 5580,
Compact GuardLogix 5380, and GuardLogix 5580 controllers only.
:= Is the assignment symbol
Expression Represents the new value to assign to the tag
If tag is this data type Use this type of expression
BOOL BOOL
SINT Numeric
INT
DINT
REAL
STRING String type, including string tag and string literal
(CompactLogix 5380, CompactLogix (CompactLogix 5380, CompactLogix 5480,
5480, ControlLogix 5580, Compact ControlLogix 5580, Compact GuardLogix 5380, and
GuardLogix 5380, and GuardLogix 5580 GuardLogix 5580 controllers only).
controllers only).
; Ends the assignment

The tag retains the assigned value until another assignment changes the value.
The expression can be simple, such as an immediate value or another tag name, or
the expression can be complex and include several operators and functions, or
both. Refer to Expressions for more information.
Tip: I/O module data updates asynchronously to the execution of logic. If you reference an input multiple times in your
logic, the input could change state between separate references. If you need the input to have the same state for
each reference, buffer the input value and reference that buffer tag. For more information, see Logix 5000
Controllers Common Procedures , publication 1756-PM001 .
You can also use Input and Output program parameters which automatically buffer the data during logix
execution. See LOGIX 5000 Controllers Program Parameters Programming Manual , publication 1756-PM021 .
See also
Assign an ASCII character to a string data member on page 512
Specify a non-retentive assignment on page 511
Character string literals on page 521
Specify a non-retentive The non-retentive assignment is different from the regular assignment described
above in that the tag in a non-retentive assignment is reset to zero each time the
assignment
controller:
• Enters the Run mode

• Leaves the step of an SFC if you configure the SFC for Automatic reset.
This applies only if you embed the assignment in the action of the step or
use the action to call a structured text routine by using a JSR instruction.
A non-retentive assignment has this syntax:
tag [:=] expression ;
where:

Component Description
tag Represents the tag that is getting the new value; the tag must be a BOOL, SINT, INT,
DINT, STRING, or REAL.
Tip: The STRING tag is applicable toCompactLogix 5380, CompactLogix 5480,
ControlLogix 5580, Compact GuardLogix 5380, and GuardLogix 5580 controllers
only.
[:=] Is the non-retentive assignment symbol.
expression Represents the new value to assign to the tag.
If tag is this data type Use this type of expression
BOOL BOOL
SINT Numeric
INT
DINT
REAL
STRING String type, including string tag and string
(CompactLogix 5380, CompactLogix literal
5480, ControlLogix 5580, Compact CompactLogix 5380, CompactLogix 5480,
GuardLogix 5380, and GuardLogix 5580 ControlLogix 5580, Compact GuardLogix
controllers only). 5380, and GuardLogix 5580 controllers(
only)
See also
Assign an ASCII character to a string data member on page 512
Assign an ASCII character Assign an ASCII character to a string data member

to a string data member
Use the assignment operator to assign an ASCII character to an element of the
DATA member of a string tag. To assign a character, specify the value of the
character or specify the tag name, DATA member, and element of the character.
For example:
This is OK This is not OK

string1.DATA[0] := 65; string1.DATA[0] := A;
string1.DATA[0]:= string2.DATA[0]; string1 := string2;
Tip: This assigns all content of string2 to string1
instead of just one character.

To add or insert a string of characters to a string tag, use either of these ASCII
string instructions:
To Use this instruction

Add characters to the end of a string CONCAT
Insert characters into a string INSERT
See also
Structured Text An expression is a tag name, equation, or comparison. To write an expression, use
any of the following:
Components: Expressions
• Tag name that stores the value (variable)
• Number that you enter directly into the expression (immediate value)
• String literal that you enter directly into the expression (CompactLogix
5380, CompactLogix 5480, ControlLogix 5580, Compact GuardLogix
5380, and GuardLogix 5580 controllers only)
• Functions, such as: ABS, TRUNC
• Operators, such as: +, -, <, >, And, Or
Follow these guidelines for writing expressions:
• Use any combination of upper-case and lower-case letter. For example, these
variations of "AND" are acceptable: AND, And, and.
• For more complex requirements, use parentheses to group expressions
within expressions. This makes the whole expression easier to read, and
ensures that the expression executes in the desired sequence.
Use these expressions for structured text:
BOOL expression: An expression that produces the BOOL value of 1 (true) or 0

(false).
• A bool expression uses bool tags, relational operators, and logical operators
to compare values or check if conditions are true or false. For example,
tag1>65.
• A simple bool expression can be a single BOOL tag.
• Typically, use bool expressions to condition the execution of other logic.

Numeric expression: An expression that calculates an integer or floating-point

value.
• A numeric expression uses arithmetic operators, arithmetic functions, and

bitwise operators. For example, tag1+5.
• Nest a numeric expression within a BOOL expression. For example,
(tag1+5)>65.
String expression: An expression that represents a string
• A simple expression can be a string literal or a string tag
Use this table to select the operators for expressions.
If Use
Calculating an arithmetic value Arithmetic operators and functions
Comparing two values or strings Relational operators
Verifying if conditions are true or false Logical operators
Comparing the bits within values Bitwise operators
See also
Use arithmetic operators and functions on page 514
Use relational operators on page 517
Use logical operators on page 516
Use bitwise operators on page 516
Use arithmetic operators and Combine multiple operators and functions in arithmetic expressions.
functions Operators calculate new values.
To Use this operator Optimal data type

Add + DINT, REAL
Subtract/negate - DINT, REAL
Multiply * DINT, REAL
Exponent (x to the power of y) ** DINT, REAL
Divide / DINT, REAL
Modulo-divide MOD DINT, REAL
Functions perform math operations. Specify a constant, a non-Boolean tag, or an

expression for the function.

For Use this function Optimal data type

Absolute value ABS (numeric_expression) DINT, REAL
Arc cosine ACOS (numeric_expression) REAL
Arc sine ASIN (numeric_expression) REAL

Arc tangent ATAN (numeric_expression) REAL
Cosine COS (numeric_expression) REAL

Radians to degrees DEG (numeric_expression) DINT, REAL
Natural log LN (numeric_expression) REAL
Log base 10 LOG (numeric_expression) REAL
Degrees to radians RAD (numeric_expression) DINT, REAL
Sine SIN (numeric_expression) REAL
Square root SQRT (numeric_expression) DINT, REAL
Tangent TAN (numeric_expression) REAL
Truncate TRUNC (numeric_expression) DINT, REAL
The table provides examples for using arithmetic operators and functions.
Use this format Example

For this situation Write
value1 operator value2 If gain_4 and gain_4_adj are DINT tags and your specification says: gain_4_adj := gain_4+15;
‘Add 15 to gain_4 and store the result in gain_4_adj’"
operator value1 If alarm and high_alarm are DINT tags and your specification says: alarm:= -high_alarm;
‘Negate high_alarm and store the result in alarm.’
function(numeric_expression) If overtravel and overtravel_POS are DINT tags and your specification says: overtravel_POS := ABS(overtravel);
‘Calculate the absolute value of overtravel and store the result in
overtravel_POS.’
value1 operator (function((value2+value3)/2) If adjustment and position are DINT tags and sensor1 and sensor2 are position := adjustment + ABS((sensor1 +
REAL tags and your specification says: ‘Find the absolute value of the sensor2)/2);
average of sensor1 and sensor2, add the adjustment, and store the result
in position.’
See also

Use bitwise operators Bitwise operators manipulate the bits within a value based on two values.
The following provides an overview of the bitwise operators.
For Use this operator Optimal data type

bitwise AND &, AND DINT
bitwise OR OR DINT
bitwise exclusive OR XOR DINT
bitwise complement NOT DINT
This is an example.

For this situation Use
value1 operator value2 If input1, input2, and result1 are DINT tags and your specification says: result1 := input1 AND input2;
"Calculate the bitwise result of input1 and input2. Store the result in
result1."
See also
Use logical operators Use logical operators to verify if multiple conditions are true or false. The result of
a logical operation is a BOOL value.
If the comparison is The result is

true 1
false 0
Use these logical operators.
For this comparison Use this operator Optimal data type

logical AND &, AND BOOL
logical OR OR BOOL
logical exclusive OR XOR BOOL
logical complement NOT BOOL

The table provides examples of using logical operators.

For this situation Use
BOOLtag If photoeye is a BOOL tag and your specification says: "If photoeye_1 is on IF photoeye THEN...
then..."
NOT BOOLtag If photoeye is a BOOL tag and your specification says: "If photoeye is off IF NOT photoeye THEN...
then..."
expression1 & expression2 If photoeye is a BOOL tag, temp is a DINT tag, and your specification says: "If IF photoeye & (temp<100) THEN...
photoeye is on and temp is less than 100 then..."
expression1 OR expression2 If photoeye is a BOOL tag, temp is a DINT tag, and your specification says: "If IF photoeye OR (temp<100) THEN...
photoeye is on or temp is less than 100 then...".
expression1 XOR expression2 If photoeye1 and photoeye2 are BOOL tags and your specification says: "If: IF photoeye1 XOR photoeye2 THEN...
photoeye1 is on while photoeye2 is off or
photoeye1 is off while photoeye2 is on
then..."
BOOLtag := expression1 & If photoeye1 and photoeye2 are BOOL tags, open is a BOOL tag, and your open := photoeye1 & photoeye2;
expression2 specification says: "If photoeye1 and photoeye2 are both on, set open to true"
See also
Use relational operators Relational operators compare two values or strings to provide a true or false result.
The result of a relational operation is a BOOL value.
If the comparison is The result is

True 1
False 0
Use these relational operators.
For this comparison Use this operator Optimal data type

Equal = DINT, REAL, String type
Less than < DINT, REAL, String type
Less than or equal <= DINT, REAL, String type
Greater than > DINT, REAL, String type
Greater than or equal >= DINT, REAL, String type
Not equal <> DINT, REAL, String type

The table provides examples of using relational operators

For this situation Write
value1 operator value2 If temp is a DINT tag and your specification says: ‘If temp is IF temp<100 THEN...
less than 100⋅ then…’
stringtag1 operator stringtag2 If bar_code and dest are string tags and your specification IF bar_code=dest THEN...
says: ‘If bar_code equals dest then…’
stringtag1 operator 'character string literal' If bar_code is a string tag and your specification says: ‘If IF bar_code=’Test PASSED’ THEN...
bar_code equals ’Test PASSED’ then...’
char1 operator char2 If bar_code is a string tag and your specification says: ‘If IF bar_code.DATA[0]=65 THEN...
To enter an ASCII character directly into the bar_code.DATA[0] equals ’A’ then…’
expression, enter the decimal value of the
character.
bool_tag := bool_expressions If count and length are DINT tags, done is a BOOL tag, and Done := (count >= length);
your specification says: ‘If count is greater than or equal to
length, you are done counting.’
How strings are evaluated
The hexadecimal values of the ASCII characters determine if one string is less than
or greater than another string.
• When the two strings are sorted as in a telephone directory, the order of the
strings determines which one is greater.
• Strings are equal if their characters match.

• Characters are case sensitive. Upper case "A" ($41) is not equal to lower case
"a" ($61).
See also

Structured Text Structured text statements can also be instructions. A structured text instruction
executes each time it is scanned. A structured text instruction within a construct
Components: Instructions executes every time the conditions of the construct are true. If the conditions of
the construct are false, the statements within the construct are not scanned. There
is no rung-condition or state transition that triggers execution.
This differs from function block instructions that use EnableIn to trigger
execution. Structured text instructions execute as if EnableIn is always set.
This also differs from ladder diagram instructions that use rung-condition-in to
trigger execution. Some ladder diagram instructions only execute when rung-
condition-in toggles from false to true. These are transitional ladder diagram
instructions. In structured text, instructions execute when they are scanned unless
pre-conditioning the execution of the structured text instruction.
For example, the ABL instruction is a transitional instruction in ladder diagram.

In this example, the ABL instruction only executes on a scan when tag_xic
transitions from cleared to set. The ABL instruction does not execute when
tag_xic stays set or when tag_xic clears.
In structured text, if writting this example as:
IF tag_xic THEN ABL(0,serial_control);
END_IF;
The ABL instruction will execute every scan that tag_xic is set, not just when
tag_xic transitions from cleared to set.
If you want the ABL instruction to execute only when tag_xic transitions from
cleared to set, you have to condition the structured text instruction. Use a one-
shot to trigger execution.
osri_1.InputBit := tag_xic;
OSRI(osri_1);
IF (osri_1.OutputBit) THEN
ABL(0,serial_control);
END_IF;
Structured Text Program constructs alone or nest within other constructs.
Components: If Use this construct

Constructs Doing something if or when specific conditions occur IF. . . THEN
Selecting what to do based on a numerical value CASE. . . OF
Doing something a specific number of times before doing anything else FOR. . . DO
Continuing doing something when certain conditions are true WHILE. . . DO
Continuing doing something until a condition is true REPEAT. . . UNTIL
Some Key Words are Reserved
These constructs are not available:
• GOTO
• REPEAT
Logix Designer application will not let you use them as tag names or constructs.
See also
IF_THEN on page 527
CASE_OF on page 523
FOR_DO on page 525
WHILE_DO on page 533
REPEAT_UNTIL on page 530

Character string literals Character string literals include single byte or double byte encoded characters. A
single-byte string literal is a sequence of zero or more characters that are prefixed
and terminated by the single quote character ('). In single byte character strings,
the three-character combination of the dollar sign ($) followed by two
hexadecimal digits is interpreted as the hexadecimal representation of the eight-bit
character code as shown in the following table.
Tips: • Character string literals are only applicable to the CompactLogix 5380,
CompactLogix 5480, ControlLogix 5580, Compact GuardLogix 5380, and
GuardLogix 5580 controllers.
• Studio 5000 only supports single byte characters.
Character string literals
No. Description Example

1a Empty string (length zero) ''
1b String of length one or character CHAR containing a single character 'A'
1c String of length one or character CHAR containing the “space” character ''
1d String of length one or character CHAR containing the “single quote” '$''
character
1e String of length one or character CHAR containing the “double quote” '"'
character
1f Support of two character combinations '$R$L'
1g Support of a character representation with ‘$’ and two hexadecimal '$0A'
characters
Two-character combinations in character strings
No. Description Example

1 Dollar sign $$
2 Single quote $'
3 Line feed $L or $I
4 Newline $N or $n
5 Form feed (page) $P or $p
6 Carriage return $R or $r
7 Tabulator $T or $t
Tips: • The newline character provides an implementation-independent means of defining the end of
a line of data for both physical and file I/O; for printing, the effect is that of ending a line of data
and resuming printing at the beginning of the next line.
• The $' combination is only valid inside single quoted string literals.
See also

String Types on page 522
String Types Store ASCII characters in tags that use a string type data type to:
• Use the default STRING data type, which stores up to 82 characters

• Create a new string type that stores less or more characters
To create a new string type, refer to the Logix 5000 Controllers ASCII Strings
Programming Manual publication 1756-PM013 .
Each string type contains the following members:
Name Data Type Description Notes

LEN DINT number of characters in The LEN automatically updates to the new count of
the string characters whenever using:
• The String Browser to enter characters
• Instructions that read, convert, or manipulate a string
The LEN shows the length of the current string. The DATA
member may contain additional, old characters, which are
not included in the LEN count.
DATA SINT array ASCII characters of the To access the characters of the string, address the name of
string the tag. For example, to access the characters of the
string_1 tag, enter string_1.
Each element of the DATA array contains one character.
Create new string types that store less or more characters.
See also

CASE_OF Use CASE_OF to select what to do based on a numerical value.
Operands
CASE numeric_expression OF
selector1: statement;
selectorN: statement; ELSE
Structured Text
Operand Type Format Enter

Numeric_ SINT INT DINT REAL Tag expression Tag or expression that evaluates to a
expression number
(numeric expression)
Selector SINT INT DINT REAL Immediate Same type as numeric_expression
Important: If using REAL values, use a range of values for a selector because a REAL
value is more likely to be within a range of values than an exact match of
one, specific value.
Description
The syntax is described in the table.
These are the syntax for entering the selector values.
When selector is Enter

One value value: statement

Multiple, distinct values value1, value2, valueN : <statement>
Use a comma (,) to separate each value.

A range of values value1..valueN : <statement>
Use two periods (..) to identify the range.

Distinct values plus a range of values valuea, valueb, value1..valueN : <statement>
The CASE construct is similar to a switch statement in the C or C++

programming languages. With the CASE construct, the controller executes only
the statements that associated with the first matching selector value. Execution
always breaks after the statements of that selector and goes to the END_CASE
statement.
No
Major/Minor Faults
None
Example
If you want this Enter this structured text

If recipe number = 1 then Ingredient A outlet 1 = open (1) Ingredient B CASE recipe_number OF
outlet 4 = open (1)
1:
Ingredient_A.Outlet_1 :=1;
Ingredient_B.Outlet_4 :=1;
If recipe number = 2 or 3 then 2,3:
Ingredient_A.Outlet_4 :=1;
Ingredient A outlet 4 = open (1) Ingredient_B.Outlet_2 :=1;
Ingredient B outlet 2 = open (1)
If recipe number = 4, 5, 6, or 7 then Ingredient A outlet 4 = open (1) 4 to 7: Ingredient_A.Outlet_4 :=1;
Ingredient B outlet 2 = open (1) Ingredient_B.Outlet_2 :=1;
If recipe number = 8, 11, 12, or 13 then Ingredient A outlet 1 = open (1) 8,11…13
Ingredient B outlet 4 = open (1) Ingredient_A.Outlet_1 :=1;
Ingredient_B.Outlet_4 :=1;
Otherwise all outlets = closed (0) ELSE
Ingredient_A.Outlet_1 [:=]0;
Ingredient_A.Outlet_4 [:=]0;
Ingredient_B.Outlet_2 [:=]0;
Ingredient_B.Outlet_4 [:=]0;
END_CASE;
The [:=] tells the controller to also clear the outlet tags whenever the controller
does the following:

Enters the RUN mode.
Leaves the step of an SFC if configuring the SFC for Automatic reset. This applies
only embedding the assignment in the action of the step or using the action to call
a structured text routine via a JSR instruction.
FOR_DO Use the FOR_DO loop to perform an action a number of times before doing
anything else.
When enabled, the FOR instruction repeatedly executes the Routine until the
Index value exceeds the Terminal value. The step value can be positive or negative.
If it is negative, the loop ends when the index is less than the terminal value.. If it is
positive, the loop ends when the index is greater than the terminal value.
Each time the FOR instruction executes the routine, it adds the Step size to the
Index.
Do not loop too many times in a single scan. An excessive number of repetitions
causes the controller watchdog to timeout and causes a major fault.
Operands
FOR count:= initial_value TO
final_value BY increment DO
<statement>;
END_FOR;

count SINT INT DINT Tag Tag to store count position as the FOR_DO executes
initial_ value SINT INT DINT Tag expression Must evaluate to a number
Immediate Specifies initial value for count
final_ value SINT INT DINT Tag expression Specifies final value for count, which determines
Immediate when to exit the loop
increment SINT INT DINT Tag expression (Optional) amount to increment count each time
Immediate through the loop
If you don’t specify an increment, the count
increments by 1.

Important: Do not iterate within the loop too many times in a single scan.
The controller does not execute other statements in the routine until it completes the loop.
A major fault occurs when completing the loop takes longer than the watchdog timer for the
task.
Consider using a different construct, such as IF_THEN.
Description
This diagrams illustrates how a FOR_DO loop executes, and how an EXIT
statement leaves the loop early.
The FOR_DO loop executes a specific number of times. To stop the loop before the count reaches the last value, use an EXIT
statement.
No
Major/Minor Faults
A major fault will occur if Fault type Fault code

The construct loops too long. 6 1

Example 1
If performing the following, Enter this structured text

Clear bits 0…31 in an array of BOOLs: For subscript:=0 to 31 by 1 do
Initialize the subscript tag to 0. array[subscript] := 0;
Clear i . For example, when subscript = 5, clear array[5].
End_for;
Add 1 to subscript.
If subscript is ≤ to 31, repeat 2 and 3.
Otherwise, stop.
Example 2

A user-defined data type (structure) stores the following information about an SIZE(Inventory,0,Inventory_Items);
item in your inventory:
For position:=0 to Inventory_Items
• Barcode ID of the item (String data type) - 1 do
• Quantity in stock of the item (DINT data type) If Barcode = Inventory[position].ID
An array of the above structure contains an element for each different item in your then
inventory. You want to search the array for a specific product (use its bar code)
Quantity :=
and determine the quantity that is in stock.
Inventory[position].Qty;
1. Get the size (number of items) of the Inventory array and store the result in
Exit;
2. Inventory_Items (DINT tag).
End_if;
Initialize the position tag to 0.
3. If Barcode matches the ID of an item in the array, then: End_for;
Set the Quantity tag = Inventory[position].Qty. This produces the quantity in
stock of the item.
Stop.
Barcode is a string tag that stores the bar code of the item for which you are
searching. For example, when
position = 5, compare Barcode to Inventory[5].ID.
4. Add 1 to position.
5. If position is ≤ to (Inventory_Items -1), repeat 3 and 4. Since element
numbers start at 0, the last element is 1 less than the number of elements in
the array.
Otherwise, stop.
IF_THEN Use IF_THEN to complete an action when specific conditions occur.
Operands
IF bool_expression THEN
<statement>;

Bool_ BOOL Tag expression BOOL tag or expression that evaluates to a BOOL value
expression (BOOL expression)

Description
To use ELSIF or ELSE, follow these guidelines.
To select from several possible groups of statements, add one or more ELSIF
statements.
Each ELSIF represents an alternative path.
Specify as many ELSIF paths as you need.
The controller executes the first true IF or ELSIF and skips the rest of the ELSIFs
and the ELSE.
To do something when all of the IF or ELSIF conditions are false, add an ELSE
statement.
The table summarizes different combinations of IF, THEN, ELSIF, and ELSE.
If And Use this construct

Doing something if or when conditions are true Do nothing if conditions are false IF_THEN
Do something else if conditions are false IF_THEN_ELSE
Selecting alternative statements or groups of Do nothing if conditions are false IF_THEN_ELSIF
statements based on input conditions
Assign default statements if all conditions are false IF_THEN_ELSIF_ELSE

No
Major/Minor Faults
None.
Examples
Example 1
IF…THEN
If performing this Enter this structured text

IF rejects > 3 then IF rejects > 3 THEN
conveyor = off (0) conveyor := 0;

alarm = on (1) alarm := 1;
END_IF;
Example 2
IF_THEN_ELSE
If performiing this Enter this structured text

If conveyor direction contact = forward (1) then IF conveyor_direction THEN
light = off light := 0;
Otherwise light = on ELSE
light [:=] 1;
END_IF;
The [:=] tells the controller to clear light whenever the controller does the
following :
Leaves the step of an SFC if you configure the SFC for Automatic reset. (This
applies only if you embed the assignment in the action of the step or use the action
to call a structured text routine via a JSR instruction.)

Example 3
IF…THEN…ELSIF

If sugar low limit switch = low (on) and sugar high limit switch = not high IF Sugar.Low & Sugar.High THEN
(on) then
inlet valve = open (on) Sugar.Inlet [:=] 1;
Until sugar high limit switch = high (off ) ELSIF NOT(Sugar.High) THEN
Sugar.Inlet := 0;
END_IF;
The [:=] tells the controller to clear Sugar.Inlet whenever the controller does the
following :
Leaves the step of an SFC if you configure the SFC for Automatic reset. (This
applies only if you embed the assignment in the action of the step or use the action
to call a structured text routine via a JSR instruction.)
Example 4
IF…THEN…ELSIF…ELSE

If tank temperature > 100 IF tank.temp > 200 THEN
then pump = slow pump.fast :=1; pump.slow :=0; pump.off :=0;
If tank temperature > 200 ELSIF tank.temp > 100 THEN
then pump = fast pump.fast :=0; pump.slow :=1; pump.off :=0;
Otherwise pump = off ELSE
pump.fast :=0; pump.slow :=0; pump.off :=1;
END_IF;
REPEAT_UNTIL Use the REPEAT_UNTIL loop to continue performing an action until

conditions are true.
Operands
REPEAT
<statement>;

Structured Text

bool_ BOOL Tag expression BOOL tag or expression that evaluates to a BOOL value
expression (BOOL expression)
The controller does not execute other statements in the routine until it
completes the loop.
A major fault occurs when completing the loop takes longer than the
watchdog timer for the task.
Description
The syntax is:
The following diagrams show how a REPEAT_UNTIL loop executes and how an
EXIT statement leaves the loop early.
While the bool_expression is false, the controller executes only the statements
within the REPEAT_UNTIL loop.
To stop the loop before the conditions are false, use an EXIT statement.

No
Fault Conditions

The construct loops too long 6 1
Example 1

The REPEAT_UNTIL loop executes the statements in the construct and then pos := -1;
determines if the conditions are true before executing the statements again. This
REPEAT
differs from the WHILE_DO loop because the WHILE_DO The WHILE_DO loop
evaluates its conditions first. pos := pos + 2;
If the conditions are true, the controller then executes the statements within the UNTIL ((pos = 101) OR
loop. The statements in a REPEAT_UNTIL loop are always executed at least once. (structarray[pos].value = targetvalue))
The statements in a WHILE_DO loop might never be executed.
end_repeat;

Example 2

Move ASCII characters from a SINT array into a string tag. (In element_number := 0;
a SINT array, each element holds one character.) Stop when
SIZE(SINT_array, 0, SINT_array_size);
you reach the carriage return.
Initialize Element_number to 0. Repeat
Count the number of elements in SINT_array (array that String_tag.DATA[element_number] :=
contains the ASCII characters) and store the result in SINT_array[element_number];
SINT_array_size (DINT tag). element_number := element_number + 1;
Set String_tag[element_number] = the character at
SINT_array[element_number]. String_tag.LEN := element_number;
Add 1 to element_number. This lets the controller check the If element_number = SINT_array_size then
next character in exit;
SINT_array.
Set the Length member of String_tag = element_number. end_if;
(This records the number of characters in String_tag so far.) Until SINT_array[element_number] = 13
If element_number = SINT_array_size, then stop. (You are end_repeat;
at the end of the array and it does not contain a carriage
return.)
If the character at SINT_array[element_number] = 13
(decimal value of the carriage return), then stop.
WHILE_DO Use the WHILE_DO loop to continue performing an action while certain
conditions are true.
Operands
WHILE bool_expression DO
<statement>;
Structured Text

bool_expression BOOL tag BOOL tag or expression that
expression evaluates to a BOOL value

The controller does not execute any other statements in the routine until it completes
the loop.
A major fault occurs when completing the loop takes longer than the watchdog timer
for the task.
Description
The syntax is:
The following diagrams illustrate how a WHILE_DO loop executes, and how an
EXIT statement leaves the loop early.
While the bool_expression is true, the controller To stop the loop before the conditions are true, use an EXIT
executes only the statements within the WHILE_DO loop. statement.
No
Fault Conditions

the construct loops too long 6 1

Example 1

The WHILE_DO loop evaluates its conditions first. If pos := 0;
the conditions are true, the controller then executes
While ((pos <= 100) & structarray[pos].value <> targetvalue)) do
the statements within the loop.
This differs from the REPEAT_UNTIL loop because the pos := pos + 2;
REPEAT_UNTIL loop executes the statements in the String_tag.DATA[pos] := SINT_array[pos];
construct and then determines if the conditions are
true before executing the statements again. The end_while;
statements in a REPEAT_UNTIL loop are always
executed at least once. The statements in a
WHILE_DO loop might never be executed.
Example 2

Move ASCII characters from a SINT array into a string tag. (In a element_number := 0;
SINT array, each element holds one character.) Stop when you
SIZE(SINT_array, 0, SINT_array_size);
reach the carriage return.
Initialize Element_number to 0. While SINT_array[element_number] <> 13 do
Count the number of elements in SINT_array (array that String_tag.DATA[element_number] :=
contains the ASCII characters) and store the result in SINT_array[element_number];
SINT_array_size (DINT tag). element_number := element_number + 1;
If the character at SINT_array[element_number] = 13 (decimal
value of the carriage return), then stop. String_tag.LEN := element_number;
Set String_tag[element_number] = the character at If element_number = SINT_array_size then
SINT_array[element_number]. exit;
Add 1 to element_number. This lets the controller check the
next character in SINT_array. end_if;
Set the Length member of String_tag = element_number. end_while;
(This records the number of characters in String_tag so far.)
If element_number = SINT_array_size, then stop. (You are at
the end of the array and it does not contain a carriage return.)
Structured Text Click a topic below for more information on issues that are unique to structured
text programming. Review this information to make sure you understand how
Attributes your structured text programming will execute.
See also
Structured Text Instructions on page 519

Chapter 11
Common Attributes for Advanced Process Control

and Drives Instructions
Follow the guidelines in this chapter for the common attributes for the Advanced
Process Control and Drives Instructions.
Common Attributes For more information on attributes that are common to the Logix 5000™
instructions, click any of the topics below.
Math Status Flags on page 537
Immediate Values on page 540
Data Conversions on page 541
Elementary data types on page 545
LINT data types on page 548
Floating Point Values on page 548
Bit Addressing on page 552
Math Status Flags Follow the guidelines in this topic for Math Status Flags.
Description
Controllers Description
CompactLogix 5380, A set of Math Status Flags for accessing directly with instructions. These flags are only
CompactLogix 5480, updated in ladder diagram routines, and are not tags, and flag aliases are not applicable.
ControlLogix 5580, Compact
GuardLogix 5380, and
GuardLogix 5580 controllers
CompactLogix 5370, A set of Math Status Flags for accessing directly with instructions. These flags are updated in
ControlLogix 5570, Compact all routine types, but are not tags, and flag aliases are not applicable.
GuardLogix 5370, and
GuardLogix 5570 controllers

Chapter 11 Common Attributes for Advanced Process Control and Drives Instructions
Status Flags
Status Flag Description Description

(For CompactLogix 5380, CompactLogix 5480, ControlLogix (For CompactLogix
5580, Compact GuardLogix 5380, and GuardLogix 5580 5370, ControlLogix
controllers) 5570, Compact
GuardLogix 5370,
and GuardLogix 5570
controllers)
S:FS The first scan flag is set by the controller: The first scan flag is set
First scan flag • The first time a program is scanned after the controller goes to by the controller:
Run mode • The first time a
• The first time a program is scanned after the program is program is scanned
uninhibited after the controller
goes to Run mode
• When a routine is called from an SFC Action and the step that
owns that Action is first scanned. • The first time a
program is scanned
Use the first scan flag to initialize data for use in later scans. It is also after the program is
referred to as the first pass bit. uninhibited
• When a routine is
called from an SFC
Action and the Step
that owns that
Action is first
scanned.
Use this flag to initialize
data for use in later
scans. It is also referred
to as the first pass bit.
S:N The controller sets the negative flag when the result of a math or The controller sets the
Negative flag logical operation is a negative value. Use this flag as a quick test for a negative flag when the
negative value. result of a math or
logical operation is a
negative value. Use this
flag as a quick test for a
negative value.
Using S:N is more
efficient than using the
CMP instruction.
S:Z The zero flag is set by the controller when the result of a math or The controller sets the
Zero flag logical operation is zero. Use this flag as a quick test for a zero value. zero flag when the
The zero flag clears at the start of executing an instruction capable of result of a math or
setting this flag. logical operation is zero.
Use this flag as a quick
test for a zero value.

Common Attributes for Advanced Process Control and Drives Instructions Chapter 11
S:V The controller sets the overflow flag when: The controller sets the
Overflow flag • The result of a math operation results in an overflow. overflow flag when:
For example, adding 1 to a SINT generates an overflow when the • The result of a math
value goes from 127 through -128. operation results in
• The destination tag is too small to hold the value. an overflow.
For example, if you try to store the value 123456 to a SINT or INT For example, adding
tag. 1 to a SINT
generates an
Use the overflow flag to verify the result of an operation is still in overflow when the
range. value goes from
If the data being stored is a string type, S:V is set if the string is too 127…-128.
large to fit into the destination tag.
• The destination tag
Tip: If applicable, set S:V with an OTE or OTL instruction. is too small to hold
Click Controller Properties > Advanced tab > Report Overflow the value.
Faults to enable or disable reporting overflow faults. For example, if you
If an overflow occurs while evaluating an array subscript, a minor try to store the value
fault is generated and a major fault is generated to indicate the index 123456 to a SINT or
is out of range. INT tag.
Use the overflow flag to

check that the result of
an operation is still in
range.
A minor fault is
generated anytime an
overflow flag is set.
Tip: If applicable,set S:V
with an OTE or OTL
instruction.\
S:C The controller sets the carry flag when the result of a math operation The controller sets the
Carry flag resulted in the generation of a carry out of the most significant bit. carry flag when the
result of a math
Only the ADD and SUB instructions, and not the + and – operators, operation resulted in
with integer values affect this flag. the generation of a
carry out of the most
significant bit.
S:MINOR The controller sets the minor fault flag when there is at least one The controller sets the
Minor fault flag minor program fault. minor fault flag when
Use the minor fault tag to test if a minor fault occurred. This bit only there is at least one
triggers by programming faults, such as overflow. It is not triggered minor program fault.
by a battery fault. The bit clears at the beginning of every scan. Use the minor fault flag
Tip: If applicable, explicitly set S:MINOR with an OTE or OTL to test if a minor fault
instruction. occurred and take
appropriate action. This
bit is triggered only by
programming faults,
such as overflow. It is
not triggered by a
battery fault. The bit
clears at the beginning
of every scan.
Tip: If applicable,
explicitly set S:MINOR
with an OTE or OTL
instruction.

Important: The math status flags are set based on the stored value. Instructions that normally do not affect
math status flags might appear to affect math status flags if type conversion occurs from mixed
data types for the instruction parameters. The type conversion process sets the math status
flags.
Expressions in Array Subscripts
Controllers Description
CompactLogix 5380, Expressions do not set status flags based on the results of math operations. If expressions
CompactLogix 5480, overflow:
ControlLogix 5580, • A minor fault generates if the controller is configured to generate minor faults.
Compact GuardLogix
5380, and GuardLogix • A major fault (type 4, code 20) generates because the resulting value is out of range.
5580 controllers
CompactLogix 5370, Expressions set status flags based on the results of math operations. If an array subscript is an
ControlLogix 5570, expression, the expression and the instruction could generate minor faults.
Compact GuardLogix
5370, and GuardLogix
5570 controllers
Tip: If an array subscript is too large (out of range), a major fault (type 4, code 20) generates.
Immediate values When you enter an immediate value (constant) in decimal format (for example, -
2, 3) the controller stores the value by using 32 bits. If you enter a value in a radix
other than decimal, such as binary or hexadecimal, and do not specify all 32 bits,
the controller places a zero in the bits that you do not specify (zero-fill).
Important: Zero-fill of immediate binary, octal or hexadecimal values less than 32

bits.
If you enter The controller stores

-1 16#ffff ffff (-1)
16#ffff (-1) 16#0000 ffff (65535)
8#1234 (668) 16#0000 029c (668)
2#1010 (10) 16#0000 000a (10)
Integer Immediate Values

Without any suffix DINT
"U" UDINT
"L" LINT
"UL" ULINT

Floating Point Immediate Values

Without any suffix REAL
"L" LREAL
Data Conversions Data conversions occur when mixing data types in programming.
When programming: Conversions can occur when you:

Ladder Diagram Mix data types for the parameters within one
Structured Text Instruction or expression.
Function Block Wire two parameters that have different data types
Instructions execute faster and require less memory if all the operands of the
instruction use:
• The same data type.

• An intermediate data type:
• All function block instructions support one data type operand only.
• If mixing data types or use tags that are not the optimal data type, the
controller converts the data according to these rules:
• Operands are converted according to the ranking of data types
from SINT, USINT, INT, UINT, DINT, UDINT, LINT,
ULINT, REAL, and LREAL with ranking from 1 (the lowest) to
10 (the highest).
Tip: To reduce the time and memory for converting data, use the same data type for all
the operands of an instruction.
Convert SINT or INT to DINT or DINT to LINT
A SINT or INT input source tag gets promoted to a DINT value by a sign-
extension for Source Tag. Instructions that convert SINT or INT values to DINT
values use one of the following conversion methods.
This conversion Converts data by placing

method
Sign-extension The value of the leftmost bit (the sign of the value) into each bit position to the left of the existing bits until there
are 32 or 64 bits.
Zero-fill Zeroes to the left of the existing bits until there are 32 or 64 bits.
Logical instructions use zero fill. All other instructions use sign-extension

The following example shows the results of converting a value using sign-
extension and zero-fill.
This value 2#1111_1111_1111_1111 (-1)

Converts to this value by 2#1111_1111_1111_1111_1111_1111_1111_1111 (-1)
sign-extension
Converts to this value by 2#0000_0000_0000_0000_1111_1111_1111_1111 (65535)
zero-fill
If you use a SINT or INT tag and an immediate value in an instruction that
converts data by sign-extension, use one of these methods to handle immediate
values.
Specify any immediate value in the decimal radix.
If you enter the value in a radix other than decimal, specify all 32 bits of the
immediate value. To do so, enter the value of the leftmost bit into each bit
position to its left until there are 32 bits.
Create a tag for each operand and use the same data type throughout the
instruction. To assign a constant value, either:
Enter it into one of the tags.
Add a MOV instruction that moves the value into one of the tags.
Use a MEQ instruction to check only the required bits.
The following examples show two ways to mix an immediate value with an INT
tag. Both examples check the bits of a 1771 I/O module to determine if all the bits
are on. Since the input data word of a 1771 I/O module is an INT tag, it is easiest
to use a 16-bit constant value.
Important: Mixing an INT tag with an immediate value

Since remote_rack_1:I.Data[0] is an INT tag, the value to check it against
is also entered as an INT tag.

Important: Mixing an INT tag with an immediate value

Since remote_rack_1:I.Data[0] is an INT tag, the value to check it against
first moves into int_0, also an INT tag. The EQU instruction then compares
both tags.
Convert Integer to REAL
The controller stores REAL values in IEEE single-precision, floating-point

number format. It uses one bit for the sign of the value, 23 bits for the base value,
and eight bits for the exponent (32 bits total). If you mix an integer tag (SINT,
INT, or DINT) and a REAL tag as inputs in the same instruction, the controller
converts the integer value to a REAL value before the instruction executes.
• A SINT or INT value always converts to the same REAL value.

• A DINT value may not convert to the same REAL value:
• A REAL value uses up to 24 bits for the base value (23 stored bits plus a
‘hidden’ bit).
• A DINT value uses up to 32 bits for the value (one for the sign and 31 for
the value).
If the DINT value requires more than 24 significant bits, it might not convert to
the same REAL value. If it will not, the controller stores the uppermost 24 bits
rounded to the nearest even value.
Convert DINT to SINT or INT
To convert a DINT value to a SINT or INT value, the controller truncates the
upper portion of the DINT and stores the lower bits that fit in the data type. If the
value is too large the conversion generates an overflow.

Convert a DINT to an INT and a SINT
This DINT value Converts to this smaller value

16#0001_0081 (65,665) INT: 16#0081 (129)
SINT: 16#81 (-127)
Convert REAL to SINT, INT, or DINT
To convert a REAL value to an integer value, the controller rounds any fractional
part and stores the bits that fit in the result data type. If the value is too large the
conversion generates an overflow.
Numbers round as in the following examples.
Fractions < 0.5 round down to the nearest whole number.
Fractions > 0.5 round up to the nearest whole number.
Fractions = 0.5 round up or down to the nearest even number.
Important: Conversion of REAL values to DINT values

This REAL value Converts to this DINT value
-2.5 -2
-3.5 -4
-1.6 -2
-1.5 -2
-1.4 -1
1.4 1
1.5 2
1.6 2
2.5 2
3.5 4

Elementary data types The controller supports the elementary data types defined in IEC 1131-3 defined
data types. The elementary data types are:
Data type Description Range

BOOL 1-bit boolean 0 = cleared
1 = set
SINT 1-byte integer -128 to 127
INT 2-byte integer -32,768 to 32,767
DINT 4-byte integer -2,147,483,648 to 2,147,483,647
REAL 4-byte floating-point number -3.402823E38 to -1.1754944E-38
(negative values)
and
0
and
1.1754944E-38 to 3.402823E38
(positive values)
LINT 8-byte integer 0 to 32,535,129,599,999,999
USINT 1-byte unsigned integer 0 to 255
UINT 2-byte unsigned integer 0 to 65,535
UDINT 4-byte unsigned integer 0 to 4,294,967,295
ULINT 8-byte unsigned integer 0 to 18,446,744,073,709,551,615
REAL 4-byte floating-point number -3.4028235E38 to -1.1754944E-38
(negative values)
and
0.0
and
1.1754944E-38 to 3.4028235E38
(positive values)
LREAL 8-byte floating-point number -1.7976931348623157E308 to
-2.2250738585072014E-308
(negative values)
and
0.0
and
2.2250738585072014E-308 to
1.7976931348623157E308
(positive values)
These controllers support the following elementary data types:
Controllers Data type

CompactLogix 5380, CompactLogix 5480, ControlLogix SINT, INT, DINT, LINT, REAL
5580, Compact GuardLogix 5380, and GuardLogix 5580 USINT, UINT, UDINT, ULINT, LREAL
controllers
CompactLogix 5370, ControlLogix 5570, Compact SINT, INT, DINT, LINT, REAL.
GuardLogix 5370, and GuardLogix 5570 controllers
The controller handles all immediate values as DINT data types.

The REAL data type also stores infinity and NAN, but the software
display differs based on the display format.
Data type conversions
When data types are mixed for operands within an instruction, some instructions
automatically convert data to an optimal data type for that instruction. In some
cases, the controller converts data to fit a new data type; in some cases the
controller just fits the data as best it can.
Conversion Result
larger integer to smaller integer The controller truncates the upper portion of the larger integer and
generates an overflow.
For example:
Decimal Binary
DINT 65,665 0000_0000_0000_0001_0000_0

000_1000_0001
INT 129 0000_0000_1000_0001
SINT -127 1000_0001
SINT or INT to REAL No data precision is lost

DINT to REAL Data precision could be lost. Both data types store data in 32 bits, but the
REAL type uses some of its 32 bits to store the exponent value. If precision is
lost, the controller takes it from the least-significant portion of the DINT.
LREAL to LREAL No data precision is lost.
LREAL TO REAL Data precision could be lost.
LREAL/REAL to unsigned integer Data precision could be lost. If the source value is too big to fit into
destination the controller stores what it can and may produce an overflow.
Signed Integer/Unsigned Integer to If the integer value has more significant bits than can be stored in the
LREAL/REAL destination, the lower bits will be truncated.
Signed integer to unsigned integer If the source value is too big to fit into destination the controller stores what
it can and may produce an overflow.
Unsigned integer to signed integer If the source value is too big to fit into destination the controller stores what
it can and may produce an overflow.
REAL to integer The controller rounds the fractional part and truncates the upper portion of
the non-fractional part. If data is lost, the controller sets the overflow status
flag.
Rounding is to the nearest whole number:
less than 0.5, round down; equal to 0.5, round to nearest even integer;
greater than 0.5, round up
For example:
REAL (source) DINT (result)

1.6 2
-1.6 -2
1.5 2
-1.5 -2
1.4 1
-1.4 -1
2.5 2
-2.5 -2
Do not convert data to or from the BOOL data type.
Important: The math status flags are set based on the value being stored. Instructions that normally do not affect
math status keywords might appear to do so if type conversion occurs because of mixed data types for
the instruction parameters. The type conversion process sets the math status keywords.
Safety Data Types
The Logix Designer application prevents the modification of a User Defined or

Add-On Defined type that would cause an invalid data type for User Defined or
Add-On Defined types that are referenced directly or indirectly by a Safety tag.
(This includes nested structures.)
Safety tags can be composed of the following data types:
• All elementary data types

• Predefined types that are used for safety application instructions.
• User-defined data types or arrays that are composed of the previous two
types.
Online edits of UDT member names in safety tags
Online editing is allowed for member names of user-defined data types on

CompactLogix 5380, Compact GuardLogix 5380, CompactLogix 5480,
ControlLogix 5580, and GuardLogix 5580 controllers. However, online editing is
disabled when a user-defined data type is used on a safety tag and the controller is
in the Safety Secured state.
See also
Math Status Flags on page 537

LINT data types LINT data type is a 64-bit integer.
The LINT data type can be used in numerous instructions on Compact

GuardLogix 5380, CompactLogix 5380, CompactLogix 5480, ControlLogix
5580, or GuardLogix 5580 controller however the LINT data type cannot be used
in most instructions on CompactLogix 5370, ControlLogix 5570, Compact
GuardLogix 5370, GuardLogix 5570 controllers.
Consider the following when using LINT data type on CompactLogix 5370,
ControlLogix 5570, Compact GuardLogix 5370, GuardLogix 5570 controllers.
Tip: LINTs can only be used with copy (COP, CPS) instructions. They are used with the
CST/WallClock Time attribute, time synchronization and Add-On Instructions. You
cannot add, subtract, multiply, or divide this tag type.
When using LINT data types, consider the following descriptions when these
issues occur.
How to Description
Move/copy two double-integer DINT values into one LINT Create a double integer array of two elements, total of 64
bits (that is, DINT[2], which can then be copied into one
long integer.
Correct Date/Time Display error When a tag has a negative value, it cannot be displayed as
Date/Time. In the tag editor, check whether the value is
negative by changing the style of the tag from Date/Time
to Binary. When the most significant bit (leftmost one) is
1, the value is negative and therefore cannot be displayed
as a Date or Time.
Floating Point Values This information applies to the CompactLogix 5370, ControlLogix 5570,
5580 controllers. Controller differences are noted where applicable.
Logix controllers handle floating point values according to the IEEE 754 standard
for floating-point arithmetic. This standard defines how floating point numbers
are stored and calculated. The IEEE 754 standard for floating point math was
designed to provide speed and the ability to handle very large numbers in a
reasonable amount of storage space.
A REAL tag stores a single-precision, normalized floating-point number.
An LREAL tag stores a double-precision, normalized floating-point number.
The controllers support these elementary data types:

Controllers Data Type

CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, REAL, LREAL
Compact GuardLogix 5380, and GuardLogix 5580 controllers
CompactLogix 5370, ControlLogix 5570, Compact GuardLogix REAL
5370, and GuardLogix 5570 controllers
Denormalized numbers and -0.0 are treated as 0.0
If a computation results in a NAN value, the sign bit could be positive or negative.
In this situation, the software displays 1#.NAN with no sign.
Not all decimal values can be exactly represented in this standard format, which
results in a loss of precision. For example, if you subtract 10 from 10.1, you expect
the result to be 0.1. In a Logix controller, the result could very well be 0.10000038.
In this example, the difference between 0.1 and 0.10000038 is .000038%, or
practically zero. For most operations, this small inaccuracy is insignificant. To put
things in perspective, if you were sending a floating point value to an analog
output module, there would be no difference in the output voltage for a value
being sent to the module that differs by .000038%.
Guidelines for Floating-point Math Operations
Follow these guidelines:
When performing certain floating-point math operations, there may be a loss of

precision due to rounding error. Floating-point processors have their own internal
precision that can impact resultant values.
Do not use floating point math for money values or for totalizer functions. Use
INT or DINT values, scale the values up, and keep track of the decimal place (or
use one INT or DINT value for dollars, and a second INT or DINT value for
cents).
Do not compare floating-point numbers. Instead, check for values within a range.
The LIM instruction is provided specifically for this purpose.
Totalizer Examples
The precision of the REAL data type affects totalization applications such that
errors occur when adding very small numbers to very large numbers.
For example, add 1 to a number over a period of time. At some point the add will
no longer affect the result because the running sum is much greater than 1, and
there are not enough bits to store the entire result. The add stores as many upper
bits as possible and discards the remaining lower bits.
To work around this, do math on small numbers until the results get large. Then,
transfer them to another location for additional large-number math. For example:

• x is the small incremented variable.

• y is the large incremented variable.
• z is the total current count that can be used anywhere.
• x = x+1;
• if x = 100,000;
• {
• y = y + 100,000;
• x = 0;
• }
• z = y + x;
Or another example:
• x = x + some_tiny_number;
• if (x >= 100)
• {
• z = z + 100;
• x = x - 100; // there might be a tiny remainder
• }

Index Through Arrays To dynamically change the array element that your logic references, use tag or
expression as the subscript to point to the element. This is similar to indirect
addressing in PLC-5 logic. Use these operators in an expression to specify an array
subscript:
Tips: • Logix Designer allows subscripts that are extended data type tags only, and does not support subscript
expressions that have extended data types.
• All available integer elementary data types can be used as a subscript index. Only use SINT, INT, and
DINT tags with operators to create a subscript expression.
Operator Description
+ add
- subtract/negate
* multiply
/ divide
AND AND
FRD BCD to integer
NOT complement
OR OR
TOD integer to BCD
SQR square root
XOR exclusive OR
For example:
Definitions Example Description

my_list defined as DINT[10] my_list[5] This example references
element 5 in the array. The
reference is static because
the subscript value remains
constant.
my_list defined as DINT[10] MOV the value 5 into position This example references
position defined as DINT my_list[position] element 5 in the array. The
reference is dynamic
because the logic can
change the subscript by
changing the value
of position.
my_list defined as DINT[10] MOV the value 2 into position This example references
position defined as DINT MOV the value 5 into offset element 7 (2+5) in the
offset defined as DINT my_list[position+offset] array. The reference is
dynamic because the logic
can change the subscript
by changing the value of
position or offset.

Tip: When entering an array subscript, make sure it is within the boundaries of the specified array.
Instructions that view arrays as a collection of elements generate a major fault (type 4, code 20) if a
subscript exceeds its corresponding dimension.
Bit Addressing Bit addressing is used access a particular bit within a larger container. Larger
containers include any integer, structure or BOOL array. For example:
Definition Example Description

Variable0 variable0.42 This example references the
defined as LINT bit 42 of variable0.
has 64 bits
variable1 variable1.2 This example references the
defined as DINT bit 2 of variable1.
has 32 bits
defined as INT bit 15 of variable2.
has 16 bits
variable3 variable3.[4] This example references bit 4
defined as SINT of variable3.
holds 8 bits
variable4 variable4.DN This example references the
defined as COUNTER structure DN bit of variable4.
has 5 status bits
MyVariable defined as BOOL[100] MyVariable[(MyIndex AND NOT 7) / 8].[MyIndex This example references a bit
MyIndex defined as SINT AND 7] within a BOOL array.
MyArray defined as BOOL[20] MyArray[3] This example references the
bit 3 of MyArray.
defined as ULINT bit 53 of variable5.
holds 64 bits
Use Bit Addressing anywhere a BOOL typed tag is allowed.
See also
Function Block Faceplate The Logix Designer programming application includes faceplate controls for some
function block instructions. Faceplates are Active-X controls used in applications
Controls that acts as an Active-X container. The faceplates communicate with the
controller via the <RSLC> OPC Server or the FactoryTalk Linx Gateway.
Important: The Logix Designer programming application is not a valid Active-X container. An Active-X
container is required to use the faceplates.
These instructions have faceplates:
• Process Discrete Input (PDI)

• Process Discrete Output (PDO)

• Process Analog Input (PAI)

• Process Analog Output (PAO)
• Alarm (ALM)
• Enhanced Select (ESEL)
• Totalizer (TOT)
• Ramp/Soak (RMPS)
• Enhanced PID (PIDE)
Configure the faceplates through property pages that open through container
applications.
All faceplates have these property pages in common:
• General
• Display
• Font
• Locale
See also
Faceplate Control Properties Dialog - General Tab on page 553
Faceplate Control Properties Dialog - Display Tab on page 554
Faceplate Control Properties Dialog - Font Tab on page 555
Faceplate Control Properties Dialog - LocaleTab on page 556
Faceplate Control Use this tab to define/modify how the control operates.
Properties Dialog - General Parameters

Tab
Communication
Select RSLinx Classic OPC Server or FactoryTalk Linx. If you select RSLinx
Classic OPC Server, you must also specify:

• whether to launch remotely

• the access path to the remote machine
If you select FactoryTalk Linx FactoryTalk, you must also specify the FactoryTalk
Area
Tag
Enter the name of a specific function block instruction to connect with this
control.
Update Rate
Enter the Update Rate of the control in seconds. You can click the arrows to
increment this value in 0.25 second increments. The default value is 1.00 second.
See also
Faceplate Control Use this tab to define how the faceplate control will appear on your screen.
Properties Dialog - Display Parameters

Tab
Background Color
This button indicates the color of the faceplate’s background. Click the button to
change this color. The default color is light gray.
Show Frame
Check or uncheck this box, depending on whether or not you wish to display a 3-
dimensional frame around this control. Using this option allows you to separate
the control from other items that may appear on your display. This option is
checked, by default.
OK
Click this button to accept your edits and close the Faceplate Control Properties
dialog.

Cancel
Click this button to cancel your edits and close the Faceplate Control Properties
dialog.
Apply
Click this button to apply your edits and continue editing in the Faceplate
Control Properties dialog.
See also
Faceplate Control Use this tab to define the fonts that appear on the faceplates. From here, you can
configure a ControlFont to be used in the main part of the faceplate, and a
Properties Dialog - Font Tab MinorFont to be used in scales and other minor portions of the faceplate.
Parameters
Property Name
Choose the font you want to configure from the pull-down menu. Choose from
ControlFont or MinorFont; the default is ControlFont.
Font
Choose the font you wish to use for the control from the list of available fonts.
The default font is Arial.
Style
Choose the style you wish to use for the control from the pull-down menu. The
default style is Regular.
Size
Enter the point size you wish to use for this font. The default size of the
ControlFont is 10.5 points; the default size of the MinorFont is 8.25 points.
Strikeout
Check this box if you want to use the strikeout effect, which draws a line through
the font. This option is unchecked, by default.

Underline
Check this box if you want to use the underline effect, which draws a line below
the font. This option is unchecked, by default.
OK
dialog.
Cancel
dialog.
Apply
See also
Faceplate Control Use this tab to define the language requirements for the faceplates.
Properties Dialog - Parameters

LocaleTab
Locale
Choose the language you want to use from the pull-down menu. Choose from:

• English
• Portuguese
• French
• Italian
• German
• Spanish
OK
dialog.
Cancel
dialog.
Apply
See also
ASCII Character Codes

ASCII character codes
Character Dec Hex Character Dec Hex Character Dec Hex Character Dec Hex
[ctrl-@] NUL 0 $0 SPACE 32 $20 @ 64 $40 ‘ 96 $60
[ctrl-A] SOH 1 $1 ! 33 $21 A 65 $41 a 97 $61
[ctrl-B] STX 2 $2 “ 34 $22 B 66 $42 b 98 $62
[ctrl-C] ETX 3 $3 # 35 $23 C 67 $43 c 99 $63
[ctrl-D] EOT 4 $4 $ 36 $24 D 68 $44 d 100 $64
[ctrl-E] ENQ 5 $5 % 37 $25 E 69 $45 e 101 $65
[ctrl-F] ACK 6 $6 & 38 $26 F 70 $46 f 102 $66
[ctrl-G] BEL 7 $7 ‘ 39 $27 G 71 $47 g 103 $67
[ctrl-H] BS 8 $8 ( 40 $28 H 72 $48 h 104 $68

[ctrl-I] HT 9 $9 ) 41 $29 I 73 $49 i 105 $69

[ctrl-J] LF 10 $l ($0A) * 42 $2A J 74 $4A j 106 $6A
[ctrl-K] VT 11 $0B + 43 $2B K 75 $4B k 107 $6B
[ctrl-L] FF 12 $0C , 44 $2C L 76 $4C l 108 $6C
[ctrl-M] CR 13 $r ($0D) - 45 $2D M 77 $4D m 109 $6D
[ctrl-N] SO 14 $0E . 46 $2E N 78 $4E n 110 $6E
[ctrl-O] SI 15 $0F / 47 $2F O 79 $4F o 111 $6F
[ctrl-P] DLE 16 $10 0 48 $30 P 80 $50 p 112 $70
[ctrl-Q] DC1 17 $11 1 49 $31 Q 81 $51 q 113 $71
[ctrl-R] DC2 18 $12 2 50 $32 R 82 $52 r 114 $72
[ctrl-S] DC3 19 $13 3 51 $33 S 83 $53 s 115 $73
[ctrl-T] DC4 20 $14 4 52 $34 T 84 $54 t 116 $74
[ctrl-U] NAK 21 $15 5 53 $35 U 85 $55 u 117 $75
[ctrl-V] SYN 22 $16 6 54 $36 V 86 $56 v 118 $76
[ctrl-W] ETB 23 $17 7 55 $37 W 87 $57 w 119 $77
[ctrl-X] CAN 24 $18 8 56 $38 X 88 $58 x 120 $78
[ctrl-Y] EM 25 $19 9 57 $39 Y 89 $59 y 121 $79
[ctrl-Z] SUB 26 $1A : 58 $3A Z 90 $5A z 122 $7A
ctrl-[ ESC 27 $1B ; 59 $3B [ 91 $5B { 123 $7B
[ctrl-\] FS 28 $1C < 60 $3C \ 92 $5C | 124 $7C
ctrl-] GS 29 $1D = 61 $3D ] 93 $5D } 125 $7D
[ctrl-^] RS 30 $1E > 62 $3E ^ 94 $5E ~ 126 $7E
[ctrl-_] US 31 $1F ? 63 $3F _ 95 $5F DEL 127 $7F

Index
latching data 493
A order of execution 495
ALM 20 program/operator control 502
timing modes 499
C
H
CC 147
HLL 357
HPF 324
D
DEDT 51
I
derivative (DERV) 320
DFF 401 IMC 184
discrete 2-state device (D2SD) 41 INTG 264
discrete 3-state device (D3SD) 26
J
E JKFF 404
enhanced select (ESEL) 350
Equipment diagram instructions 476
L
equipment phase 415, 424, 427, 433, 443, 448, 451, 455, 460
equipment phase clear failure - PCLF 424 LDL2 341
equipment phase command - PCMD 427 LDLG 62
equipment phase external request - PXRQ 433 LPF 330
equipment phase failure - PFL 443
equipment phase instructions 415 M
equipment phase new parameters - PRNP 448
equipment phase override command - POVR 451 MAVE 382
equipment phase paused - PPD 455 MAXC 388
phase state complete (PSC) 460 MINC 392
Equipment Sequence Instruction examples 485, 486, 487, 488 MMC 204
Equipment Sequence Instructions 465, 468, 470, 471, 473, 476 MSTD 395
MUX 362
F
N
Faceplate Control Properties dialog 553, 554, 555, 556
Display tab 554 NTCH 336
faceplates 552
Font tab 555 P
General tab 553
PATT 416
Locale tab 556
PCLF 424
FGEN 56
PCMD 427
Filter Instructions 319
PDET 421
function block 491, 492, 493, 494, 495, 499, 502, 505, 552
PFL 443
attributes 491, 492, 493, 494, 495, 499, 502
PI 270
faceplates 552
Index
PIDE 67
PMUL 281
POSP 102
POVR 451
PPD 455
PRNP 448
PSC 460
PXRQ 433
R
ramp/soak (RMPS) 111
reset dominant (RESD) 407
Result Codes for Equipment Sequence Instructions 481, 482, 483, 484
RLIM 365
S
scale (SCL) 125
S-Curve (SCRV) 289
second-order controller (SOC) 298
SEL 370
selected negate (SNEG) 373
selected summer (SSUM) 376
set dominant (SETD) 411
SOC 298
SRTP 130
T
totalizer (TOT) 137
U
UPDN 308

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Rockwell Automation provides technical information on the web to assist you in using its products.
At http://www.rockwellautomation.com/support you can find technical and application notes, sample code, and links to software service packs.
You can also visit our Support Center at https://rockwellautomation.custhelp.com for software updates, support chats and forums, technical
information, FAQs, and to sign up for product notification updates.
In addition, we offer multiple support programs for installation, configuration, and troubleshooting. For more information, contact your local
distributor or Rockwell Automation representative, or visit http://www.rockwellautomation.com/services/online-phone .
Installation assistance
If you experience a problem within the first 24 hours of installation, review the information that is contained in this manual. You can contact
Customer Support for initial help in getting your product up and running.
United States or Canada 1.440.646.3434

Outside United States or Canada Use the Worldwide Locator available at http://www.rockwellautomation.com/locations , or contact your local Rockwell
Automation representative.
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Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility. However, if
your product is not functioning and needs to be returned, follow these procedures.
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your distributor to complete the return process.
Outside United States Please contact your local Rockwell Automation representative for the return procedure.
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Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
Supersedes Publication Publication 1756-RM006J-EN-P - February 2018 Copyright © 2019 Rockwell Automation Technologies, Inc. All Rights Reserved. Printed in the U.S.A.

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Reference Manual

Logix 5000 Advanced Process Control and Drives and

Labels may also be on or inside the equipment to provide specific precautions.

None for this release.

New or enhanced features

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 3

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 5

File Average (AVE) Select (SEL)

6 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 7

8 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Preface Studio 5000 environment................................................................................................. 15

Process Control Instructions Process Control Instructions ........................................................................................... 19

CV Windup Limiting ..................................................................................................... 253

Drives Drives Instructions .......................................................................................................... 263

Filter Filter Instructions ............................................................................................................ 319

Select_Limit Instructions Select/Limit Instructions ............................................................................................... 349

10 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Statistical Instructions Statistical Instructions..................................................................................................... 381

Logical and Move Logical and Move Instructions ...................................................................................... 401

Equipment Phase Equipment Phase Instructions ...................................................................................... 415

Equipment Sequence Equipment Sequence instructions ................................................................................ 465

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 11

Result codes for SCMD instructions ........................................................................... 483

Function Block Attributes Choose the Function Block Elements.......................................................................... 492

Structured Text Structured Text Syntax ................................................................................................... 508

12 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Common Attributes for Common Attributes ........................................................................................................ 537

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 13

If you design, program, or troubleshoot safety applications that use GuardLogix

The Studio 5000® environment is the foundation for the future of

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 15

View or download publications

Legal Notices Copyright Notice

Copyright © 2019 Rockwell Automation Technologies, Inc. All Rights Reserved.

This document and any accompanying Rockwell Software products are

End User License Agreement (EULA)

Open source licenses

The software included in this product contains copyrighted software that is

Alternately, obtain complete Corresponding Source code by contacting Rockwell

16 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Allen-Bradley, ControlBus, ControlFLASH, Compact GuardLogix, Compact

Any Rockwell Automation logo, software or hardware product not mentioned

CmFAS Assistant, CmDongle, CmStick, CodeMeter, CodeMeter Control

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 17

Rockwell Automation maintains current product environmental information on

Customer Support Telephone — 1.440.646.3434

Online Support — http://www.rockwellautomation.com/support/

18 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018

Process Control The Process Control instructions include these instructions:

Instructions Available Instructions

Function Block and Structured Text

ALM SCL PIDE RMPS POSP SRTP LDLG FGEN

TOT DEDT D2SD D3SD IMC CC MMC

If you want to Use this instruction

Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 19

Provide a time-scaled accumulation of an analog input value, such as a TOT

Control a single process variable by manipulating as many as three CC

Filter Instructions on page 319