1756 pm005 - en P

Programming Manual
Logix5000 Controllers Tasks, Programs, and Routines

1756 ControlLogix, 1756 GuardLogix, 1769 CompactLogix, 1769 Compact GuardLogix, 1789
SoftLogix, 5069 CompactLogix, Studio 5000 Logix Emulate
Important user information
Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment
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The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated
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WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to
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ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic
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Summary of changes
This manual contains new and updated information. There are a number of minor
changes throughout this publication that were made to clarify existing
information. The major changes are listed in the following table.
Change Topic
Updated the list of controllers in the table. Select Controller Tasks on page 11
Added the CompactLogix 5480 controller to the Controller Choose the Trigger for an Event Task on page 35
applicable event task table.
Rockwell Automation Publication 1756-PM005G-EN-P - December 2016 3

Table of contents
Preface Studio 5000 environment....................................................................................................7

Additional resources .............................................................................................................7
Legal notices ...........................................................................................................................8
Chapter 1
Manage Tasks Introduction ........................................................................................................................ 11

Select Controller Tasks ..................................................................................................... 11
Use Caution in the Number of Tasks That You Use ......................................... 13
Prioritize Periodic and Event Tasks ............................................................................... 14
Additional Considerations ....................................................................................... 14
Example ........................................................................................................................ 15
Leave Enough Time for Unscheduled Communication ............................................ 16
Avoid Overlaps ................................................................................................................... 17
Manually Check for Overlaps .................................................................................. 18
Programmatically Check for Overlaps ................................................................... 19
Configure Output Processing for a Task....................................................................... 20
Manually Configure Output Processing ............................................................... 22
Programmatically Configure Output Processing ................................................ 24
Inhibit a Task ...................................................................................................................... 24
Manually Inhibit or Uninhibit a Task ................................................................... 25
Programmatically Inhibit or Uninhibit a Task .................................................... 26
Create a Task....................................................................................................................... 27
Create a Periodic Task............................................................................................... 28
Language Switching ................................................................................................... 29
Adjust the System-overhead Time Slice ........................................................................ 30
Configure the System-overhead Time Slice .......................................................... 31
Adjust the System Watchdog Time ............................................................................... 32
Adjust the Watchdog Timer for a Task................................................................. 33
Chapter 2
Manage Event Tasks Introduction ........................................................................................................................ 35

Choose the trigger for an event task ............................................................................... 35
Module Input Data State Change Trigger .................................................................... 37
How an I/O Module Triggers an Event Task ...................................................... 38
Make Sure Your Module Can Trigger an Event Task ........................................ 40
Checklist for an Input Event Task.......................................................................... 41
Example Input Event Task ................................................................................... 42
Estimate Throughput ................................................................................................ 44
Example Estimate Throughput............................................................................ 45
Additional Considerations ....................................................................................... 46
Motion Group Trigger ...................................................................................................... 47

Table of contents
Checklist for a Motion Group Task ....................................................................... 49

Axis Registration Trigger .................................................................................................. 49
Checklist for an Axis Registration Task ................................................................ 50
Example Axis Registration Trigger ..................................................................... 51
Axis Watch Trigger............................................................................................................ 53
Checklist for an Axis Watch Task .......................................................................... 54
Example Axis Watch Trigger ............................................................................... 54
Consumed Tag Trigger ..................................................................................................... 57
Maintain the Integrity of Data ................................................................................ 59
Synchronize multiple controllers ............................................................................ 59
Checklist for the Producer Controller ................................................................... 60
Checklist for the Consumer Controller ................................................................ 61
Example Producer Controller and Consumer Controller ............................. 62
Producer Controller .................................................................................................. 62
Produced Tag Properties................................................................................... 62
Ladder Logic ........................................................................................................ 63
Consumer Controller ................................................................................................ 63
Event Task Properties........................................................................................ 63
Ladder Diagram in the Event Task ................................................................. 63
EVENT Instruction Trigger ............................................................................................ 64
Programmatically Determine if EVENT Instruction Triggered Task ............ 65
Checklist for an EVENT Instruction Task .......................................................... 65
Example EVENT Instruction Trigger................................................................ 66
Event Task Properties........................................................................................ 66
Ladder Diagram in Program_A ....................................................................... 66
Ladder Diagram in Program_B ....................................................................... 66
Define a Timeout Value for an Event Task .................................................................. 67
Assign a Timeout Value to an Event Task ............................................................ 67
Programmatically configure a timeout ................................................................... 69
Programmatically determine if a timeout occurs ................................................. 69
Index
6 Rockwell Automation Publication 1756-PM005G-EN-P - December 2016

Preface
This manual is one of a set of related manuals that show common procedures for
programming and operating Logix5000 controllers.
For a complete list of common procedures manuals, refer to the Logix5000

Controllers Common Procedures Programming Manual , publication
1756-PM001.
The term Logix5000 controller refers to any controller that is based on the
Logix5000 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 Logix5000 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.
These documents contain additional information concerning related Rockwell

Additional resources
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.

Preface
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http://www.rockwellautomation.com/literature . To order paper copies of
technical documentation, contact your local Rockwell Automation distributor or
sales representative.
Legal notices Copyright Notice
2016 Rockwell Automation, Inc. All rights reserved. Printed in USA.
This document and any accompanying Rockwell Software products are

copyrighted by Rockwell Automation, Inc. Any reproduction and/or distribution
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You can view the Rockwell Automation End-User License Agreement ("EULA")
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Classic, Rockwell Software Security Emulator, RSLogix 5000, and Studio 5000 are
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Warranty
This product is warranted in accordance with the product license. The products
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

Preface
this document do not cover all the details or variations in the equipment,
procedure, or process described, nor do they provide directions for meeting every
possible contingency during installation, operation, or maintenance. This
products 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.
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Chapter 1
Manage Tasks
The default project provides a single task for all your logic. Although this is
Introduction
sufficient for many applications, some situations may require more than one task.
Select Controller Tasks A Logix5000 controller supports multiple tasks to schedule and prioritize the
running of your programs based on specific criteria. This balances the processing
time of the controller.
The controller runs only one task at one time.

A different task can interrupt a task that is running and take control.
In any given task, only one program runs at one time.
A Logix5000 controller supports the following types of tasks.
If you want to run a section Then use this Description

of your logic type of task
All the time Continuous Task The continuous task runs in the background. Any CPU time not
allocated to other operations (such as motion, communication,
and periodic or event tasks) is used to run the programs within
the continuous task.
The continuous task runs all the time. When the continuous
task completes a full scan, it restarts immediately.
A project does not require a continuous task. If used, there can
be only one continuous task.

Chapter 1 Manage Tasks
If you want to run a section Then use this Description

of your logic type of task
At a constant period (for Periodic Task A periodic task performs a function at a specific period. When the
example, every 100 ms) time for the periodic task expires, the periodic task:
Multiple times within the Interrupts any lower priority tasks.
scan of your other logic Runs one time.
Returns control to where the previous task left off.
You can configure the time period from 0.1 ms2000 s. The
default is 10 ms.
Immediately when an event Event Task An event task performs a function only when a specific event
occurs (trigger) occurs. When the trigger for the event task occurs, the
event task:
Interrupts any lower priority tasks.
Runs one time.
Returns control to where the previous task left off.
The trigger can be a:
Change of a digital input.
New sample of analog data.
Certain motion operations.
Consumed tag.
EVENT instruction.
Important: Some Logix5000 controllers do not support all
triggers.
The following table lists example situations for the tasks.
For this example situation Use this type of task

Fill a tank to its maximum level and then open a drain valve. Continuous task
Collect and process system parameters and send them to a display. Continuous task
Complete step 3 in a control sequencereposition the bin diverter. Continuous task
Your system must check the position of a field arm each 0.1 s and calculate the average Periodic task
rate of change in its position. This is used to determine braking pressure.
Read the thickness of a paper roll every 20 ms. Periodic task
A packaging line glues boxes closed. When a box arrives at the gluing position, the Event task
controller must immediately run the gluing routine.
In a high-speed assembly operation, an optical sensor detects a certain type of reject. Event task
When the sensor detects a reject, the machine must immediately divert the reject.
In an engine test stand, you want to capture and archive each analog data immediately Event task
after each sample of data.
Immediately after receiving new production data, load the data into the station. Event task
In a line that packages candy bars, you have to make sure that the perforation occurs in Event task
the correct location on each bar. Each time the registration sensor detects the registration
mark, check the accuracy of an axis and perform any required adjustment.
A gluing station must adjust the amount of glue it applies to compensate for changes in Event task
the speed of the axis. After the motion planner runs, check the command speed of the axis
and vary the amount of glue, if needed.
In a production line, if any of the programs detect an unsafe condition the entire line must Event task
shut down. The shutdown procedure is the same regardless of the unsafe condition.

Manage Tasks Chapter 1
The number of tasks supported depends on the controller.
This controller Supports this number of tasks Notes

ControlLogix 32 Only one task can be continuous.
1756-L71
1756-L72
1756-L73
1756-L74
1756-L75
GuardLogix
1756-L71S 32
1756-L72S
1756-L73S
SoftLogix5800
1756-L7SP 32
CompactLogix
1769-L2x 3
1769-L31 4
1769-L32x 6
1769-L35x 8
1768-L43 16
1768-L45
1769-L16x 32
1769-L18x
1769-L19x
1769-L24x
1769-L27x
1769-L30x
1769-L33x
1769-L36x
1769-L37x
Use Caution in the Number of Typically, each task takes controller time away from the other tasks. If you have
too many tasks, then:
Tasks That You Use
The continuous task may take too long to complete.
Other tasks may overlap. If a task is interrupted too frequently or too long,
it may not finish running before it is triggered again.

Prioritize Periodic Although a project can contain multiple tasks, the controller runs only one task at
and Event Tasks a time. If a periodic or event task is triggered while another task is running, the
priority of each task indicates what the controller should do.
The number of priority levels depends on the controller.
This Logix5000 controller Has this many priority levels

CompactLogix 15
ControlLogix 15
DriveLogix 15
FlexLogix 15
SoftLogix5800 3
To assign a priority to a task, use the following guidelines.
If you want Then Notes

This task to interrupt Assign a priority number that is less than (higher A higher priority task interrupts all
another task priority) the priority number of the other task. lower priority tasks.
Another task to interrupt Assign a priority number that is greater than (lower A higher priority task can interrupt a
this task priority) the priority number of the other task. lower priority task multiple times.
This task to share Assign the same priority number to both tasks. The controller switches back and forth
controller time with between each task and runs each task
another task for 1 ms.
Additional Considerations As you estimate the execution interrupts for a task, consider the following.
Consideration Description
Motion planner The motion planner interrupts all user tasks, regardless of their priority.
The number of axes and coarse update period for the motion group affect how long and how
often the motion planner runs.
If the motion planner is running when a task is triggered, the task waits until the motion
planner is done.
If the coarse update period occurs while a task is running, the task pauses to let the motion
planner run.

I/O task CompactLogix, FlexLogix, and DriveLogix controllers use a dedicated periodic task to process I/O
data. This I/O task:
Does not show up in the Tasks folder of the controller.
Does not count toward the task limits for the controller.
Operates at priority 6.
Runs at the fastest RPI you have scheduled for the system.
Runs for as long as it takes to scan the configured I/O modules.
As you assign priorities to your tasks, consider the I/O task.
If you want a task to Then assign one of these priorities
Interrupt or delay I/O processing 15
Share controller time with I/O processing 6
Let I/O processing interrupt or delay the task 715
System overhead System overhead is the time that the controller spends on unscheduled communication.
Unscheduled communication is any communication that you do not configure through the
I/O configuration folder of the project, such as Message (MSG) instructions and
communication with HMIs or workstations.
System overhead interrupts only the continuous task.
The system overhead time slice specifies the percentage of time (excluding the time for
periodic or event tasks) that the controller devotes to unscheduled communication.
The controller performs unscheduled communication for up to 1 ms at a time and then
resumes the continuous task.
Continuous task You do not assign a priority to the continuous task. It always runs at the lowest priority. All
other tasks interrupt the continuous task.
Example The following example shows the execution of a project with three user tasks.
Task Priority Period Execution time Duration

Motion planner N/A 8 ms (base update 1 ms 1 ms
rate)
Event task 1 1 N/A 1 ms 12 ms
Periodic task 1 2 12 ms 2 ms 24 ms
I/O taskn/a to ControlLogix and 7 5 ms (fastest RPI) 1 ms 15 ms
SoftLogix controllers. See Additional
Considerations on page 14.
System overhead N/A Time slice = 20% 1 ms 16 ms
Continuous task N/A N/A 20 ms 48 ms

Description
Initially, the controller runs the motion planner and the I/O task (if one exists).
After running the continuous task for 4 ms, the controller triggers the system overhead.
The period for periodic task 1 expires (12 ms), so the task interrupts the continuous task.
After running the continuous task again for 4 ms, the controller triggers the system overhead.
The trigger occurs for event task 1.

Event task 1 waits until the motion planner is done.
Lower priority tasks are delayed.
The continuous task automatically restarts.
The Studio 5000 environment includes a task monitor tool on the distribution
CD. You can use this tool to analyze how tasks are running.
Leave Enough Time for Unscheduled communication occurs only when a periodic or event task is not
running. If you use multiple tasks, make sure that the scan times and execution
Unscheduled intervals leave enough time for unscheduled communication. Use the following
Communication methods to plan enough unscheduled communication time.
1. Verify that the execution time of a highest priority task is significantly less
than its specified period.
2. Verify that the total execution time of all your tasks is significantly less than
the period of the lowest priority tasks.
For example, the following is true in this configuration.

Task Priority Execution Time Period Specified

1 Higher 20 ms 80 ms
2 Lower 30 ms 100 ms
Total execution time: 50 ms
The execution time of the highest priority task (Task 1) is significantly less
than its specified period (20 ms is less than 80 ms).
The total execution time of all tasks is significantly less than the specified
period of the lowest priority task (50 ms is less than 100 ms).
The following guidelines generally leave enough time for unscheduled

communication.
Adjust the period of the tasks as needed to get the best balance between
running your logic and servicing unscheduled communication.
If your project has a continuous task, unscheduled communication occurs as
a percentage of controller time (excluding the time for periodic or event
tasks).
Avoid Overlaps An overlap is a condition where a task (periodic or event) is triggered while the
task is still running from the previous trigger.
Important: If an overlap occurs, the controller disregards the trigger that caused the overlap. In other words, you might
miss an important execution of the task.
Description
Task trigger occurs.
Task runs.
Task runs.
Task runs.
Overlap occurs. Task is triggered while it is still running.
The trigger does not restart the task. The trigger is ignored.

Each task requires enough time to finish before it is triggered again. Make sure that
the scan time of the task is significantly less than the rate at which the trigger
occurs. If an overlap occurs, reduce the frequency at which you trigger the task.
If the type of task is Then

Periodic Increase the period of the task.
Event Adjust the configuration of your system to trigger the task less frequently.
Manually Check for Overlaps Follow these steps to manually see if overlaps are occurring for a task.
1. In the Controller Organizer, right-click MainTask and choose Properties.

2. On the Task Properties dialog box, click the Monitor tab.
The Task Overlap Count shows the number of overlaps since the counter
was last reset.
3. Click OK.
Programmatically Check for When an overlap occurs, the controller:

Overlaps Logs a minor fault to the FAULTLOG object.
Stores overlap information in the Task object for the task.
To write logic to check for an overlap, use a Get System Value (GSV) instruction
to monitor either of these objects.
If you want to Then access the object and attribute

Object Attribute Data Description
Type
Determine if an overlap FaultLog MinorFaultBits DINT Individual bits that indicate a minor fault:
occurred for any task
To determine if Examine this
bit
An instruction produced a 4
minor fault.
An overlap occurred for a task. 6
The serial port produced a 9
minor fault.
The battery/ESM is not 10
present or needs
replacement.(1)

If you want to Then access the object and attribute

Object Attribute Data Description
Type
Determine if an overlap Task Status DINT Status information about the task. Once the
occurred for a specific task controller sets one of these bits, you must
manually clear the bit.
To determine if Examine this
bit
An EVENT instruction 0
triggered the task (event task
only).
A timeout triggered the task 1
(event task only).
An overlap occurred for this 2
task.
Determine the number of Task OverlapCount DINT Valid for an event or a periodic task.
times that an overlap
To clear the count, set the attribute to 0.
occurred.
(1) Battery for 1756-L6X, 1769-L2X, and 1769-L3X controllers. ESM for
1756-L7X and CompactLogix 5370 series controllers.
Example: 1. The GSV instruction sets Task_2_Status = Status attribute for Task_2 (DINT value).
2. If Task_2_Status.2 = 1, then an overlap occurred, so get the count of overlaps:

The GSV instruction sets Task_2_Overlap_Count (DINT tag) = OverlapCount attribute of Task_2.
3. If Condition_1 = 1, then clear the bits of the Status attribute for Task_2:
The SSV instruction sets the Status attribute of Task_2 = Zero. Zero is a DINT tag with a value of 0.
Configure Output At the end of a task, the controller performs overhead operations (output
processing) for the I/O modules in your system. Although these operations are not
Processing for a Task the same as updating the modules, the output processing may affect the update of
the I/O modules in your system.

As an option, you can turn off this output processing for a specific task, which
reduces the elapsed time of that task.
Select Disable Automatic Output Processing To Reduce Task Overhead to

disable the processing of outputs at the end of the task.

Choose how to configure output processing for a task.
Manually Configure Output Follow these steps to manually configure output processing.
Processing

1. In the Controller Organizer, right-click MainTask and choose Properties.
2. On the Task Properties dialog box, click the Configuration tab.
3. Configure output processing for the task.
If you want to Then

Enable the processing of outputs at the Clear Disable Automatic Output Processing To Reduce Task
end of the task Overhead (default).
Disable the processing of outputs at the Check Disable Automatic Output Processing To Reduce Task
end of the task Overhead.
4. Click OK.

Programmatically Configure To write logic to configure output processing for a task, use a
Set System Value (SSV) instruction. Access the attribute of the Task object for the
Output Processing
task.
If You Want to Access This Data Instruction Description

Attribute Type
Enable or disable DisableUpdateO DINT GSV To Set the attribute to
the processing of utputs SSV Enable the processing 0
outputs at the end
of outputs at the end
of a task
of the task
Disable the processing 1 (or any non-zero value)
of outputs at the end
of the task
EXAMPLE
If Condition_1 = 0 then let Task_2 process outputs when it is done.

1. The ONS instruction limits the true run of the SSV instruction to one scan.
2. The SSV instruction sets the DisableUpdateOutputs attribute of Task_2 = 0. This lets the task automatically process outputs when it finishes its run.
If Condition_1 = 1 then do not let Task_2 process outputs when it is done.

2. The SSV instruction sets the DisableUpdateOutputs attribute of Task_2 = 1. This prevents the task from automatically processing outputs when it finishes
its run.
Inhibit a Task By default, each task runs based on its trigger (event, periodic, or continuous). As
an option, you can prevent a task from running when its trigger occurs (that is,
inhibit the task). This is useful when you test, diagnose, or start up your project.
If You Want to Then

Let the task run when its trigger occurs Uninhibit the task (default).
Prevent the task from running when its trigger occurs Inhibit the task.

Example: During the commissioning of a system that uses several tasks, you can first test each task individually.
Inhibit all the tasks except one, and then test that task.
Once the task meets your requirements, inhibit it and uninhibit a different task.
Continue this process until you have tested all your tasks.
If a task is inhibited, the controller still prescans the task when the controller
transitions from Program to Run or Test mode.
Manually Inhibit or Uninhibit a Follow these steps to manually inhibit or uninhibit the running of a task.
Task 1. In the Controller Organizer, right-click MainTask and choose Properties.

3. Do one of these steps to inhibit or uninhibit the task.
If You Want to Then

Let the task run when its trigger occurs Clear Inhibit Task (default).
Prevent the task from running when its trigger Check Inhibit Task.
occurs
4. Click OK.
Programmatically Inhibit or To write logic to inhibit or uninhibit a task, use a Set System Value (SSV)
instruction to access the attribute of the Task object for the task.
Uninhibit a Task
Attribute Data Type Instruction Description
InhibitTask DINT GSV Prevents the task from running.
SSV To Set the attribute to
Enable the task 0 (default)
Inhibit (disable) the task 1 (or any non-zero value)
EXAMPLE
If Condition_1 = 0 then let Task_2 run.
2. The SSV instruction sets the InhibitTask attribute of Task_2 = 0. This uninhibits the task.
If Condition_1 = 1 then do not let Task_2 run.

2. The SSV instruction sets the InhibitTask attribute of Task_2 = 1. This inhibits the task.

Create a Task Follow these steps to create an event task.
1. In the Controller Organizer, right-click the Tasks folder and choose New
Task.
2. Enter task information in the New Task dialog box.
Topic Description
Name Type a name for the task.
Description Type an optional description for the task.
Type Choose Event for the task type.
Trigger Choose a trigger for the task.
Tag Choose a tag if the field is active for the selected trigger.

Topic Description
Execute Task If No Event Occurs Within Check the box and type a time period that must elapse before
a task can run.
Priority Enter the task priority value.
Watchdog Type the watchdog time for the task.
3. Click OK.
Create a Periodic Task A periodic task performs a function or functions at a specific rate.
Important: Be sure that the time period is longer than the sum of the run times of all the programs assigned to the
task.
If the controller detects that a periodic task trigger occurs for a task that is already operating, a minor
fault occurs (overlap).
Priorities and run times of other tasks may also cause an overlap.
1. In the Controller Organizer, right-click the MainTask folder and

choose Properties.

3. Enter the following information in the Task Properties dialog box.
Topic Description
Type Choose Periodic (default) for the type of task.
Period Type a value for when (or at what time interval) you want
the task to run.
Priority Enter the task priority value.
Watchdog Type the watchdog time for the task.
4. Click OK.
Language Switching In versions 17 and later of the application, you can display project documentation,
such as tag descriptions and rung comments, for any supported localized language.
You can store project documentation for multiple languages in a single project file
rather than in language-specific project files. You define all the localized languages
that the project will support and set the current, default, and optional
custom-localized language. The software uses the default language if the current
language's content is blank for a particular component of the project. However,
you can use a custom language to tailor documentation to a specific type of project
file user.
Enter the localized descriptions in your project, either when programming in that
language or by using the import/export utility to translate the documentation
offline and then import it back into the project. When you enable language
switching, you can dynamically switch between languages as you use the software.

Project documentation that supports multiple translations within a project

includes the following:
Component descriptions in tags, routines, programs, user-defined data

types, and Add-On Instructions
Equipment phases
Trends
Controllers
Alarm Messages (in ALARM_ANALOG and ALARM_DIGITAL
configuration)
Tasks
Property descriptions for modules in the Controller Organizer
Rung comments, SFC text boxes, and FBD text boxes
Adjust the A Logix5000 controller communicates with other devices, I/O modules,
System-overhead Time Slice controllers, HMI terminals, and so forth, at either a specified rate (scheduled) or
when there is processing time available to service the communication
(unscheduled).
This type of communication Is

Update I/O data (not including block-transfers) Scheduled
Communication
Produce or consume tags
Communicate with programming devices (that is, the Logix Designer application) Service Communication
Communicate with HMI devices
Run Message (MSG) instructions, including block-transfers
Respond to messages from other controllers
Synchronize the secondary controller of a redundant system
Re-establish and monitor I/O connections (such as Removal and Insertion Under Power
conditions); this does not include normal I/O updates that occur during the running of logic
Service communication is any communication that you do not configure through

the I/O configuration folder of the project.
The system-overhead time slice specifies the percentage of time a controller

devotes to service communication. However, if there is no continuous task, the
overhead time slice has no effect. If you have both a periodic and a continuous
task, the value selected on the Advanced tab of the Controller Properties dialog
box determines the ratio of running the continuous task and service
communication.
The following table shows the ratio between the continuous task and service
communication at various system overhead time slices.

At this time slice The continuous tasks runs Service communication occurs for up to
10% 9 ms 1 ms
20% 4 ms 1 ms
25% 3 ms 1 ms
33% 2 ms 1 ms
50% 1 ms 1 ms
66% 1 ms 2 ms
75% 1 ms 3 ms
80% 1 ms 4 ms
90% 1 ms 9 ms
As shown in the table, for version 16 and later of the application, the system
overhead time slice at 50% stays fixed at 1 ms.
The same applies for 66% and higher, except that there are multiple 1 ms intervals.
For example, at 66% there are two 1 ms intervals of consecutive time and at 90%
there are nine 1 ms intervals of consecutive time.
Configure the System-overhead Follow these steps to configure the system-overhead time slice.
Time Slice 1. On the Online toolbar, click the controller properties icon.

2. On the Controller Properties dialog box, click the Advanced tab.
3. Enter a number in the System Overhead Time Slice box.
4. Use either Run Continuous Task (default) or Reserve for System Tasks.
Select the Run Continuous Task radio button when there are no
communication or background tasks to process; the controller
immediately returns to the continuous task.
Select the Reserve for System Task radio button to allocate the entire
1 ms of the system-overhead time slice when the controller has
communication or background tasks to perform before returning to the
continuous task. This lets you simulate a communication load on the
controller during design and programming before HMIs, controller to
controller messaging, and so forth, are set up. Use this setting for testing
purposes only.
5. Click OK.
Each task contains a watchdog timer that specifies how long a task can run before
Adjust the System
triggering a major fault.
Watchdog Time
If the watchdog timer reaches a configurable preset, a major fault occurs. Depending on the controller
fault handler, the controller might shut down.
A watchdog time can range from 12,000,000 ms (2000 seconds). The

default is 500 ms.

The watchdog timer begins to run when the task is initiated and stops when
all the programs within the task have run.
If the task takes longer than the watchdog time, a major fault occurs. (The
time includes interruptions by other tasks.)
You can use the controller fault handler to clear a watchdog fault. If the
same watchdog fault occurs a second time during the same logic scan, the
controller enters Faulted mode, regardless of whether the controller fault
handler clears the watchdog fault.
Adjust the Watchdog Timer for Follow these steps to change the watchdog time of a task.
a Task
1. In the Controller Organizer, right-click Main Task and choose Properties.

3. Type a numeric value for the watchdog timeout for the task.
4. Click OK.

Chapter 2
Manage Event Tasks
An event task, if configured correctly, interrupts all other tasks for the minimum
Introduction
amount of time required to respond to the event.
This section describes how to set up event tasks and lists considerations, such as a
higher priority task, that can affect the execution of an event task.
Choose the trigger for an Each event task requires a specific trigger that defines when the task is to run. The
following table reviews some of these triggers.
event task
To trigger an event task Use this trigger With these considerations
when
Digital input turns On or Off Module Input Data Only one input module can trigger a specific event task.
State Change The input module triggers the event task based on the
change of state (COS) configuration for the module. The COS
configuration defines which points prompt the module to
produce data if they turn On or Off. This production of data
(due to COS) triggers the event task.
Typically, enable COS for only one point on the module. If
you enable COS for multiple points, a task overlap of the
event task may occur.
Analog module samples data Module Input Data Only one input module can trigger a specific event task.
State Change The analog module triggers the event task after each real
time sample (RTS) of the channels.
All the channels of the module use the same RTS.
Controller gets new data via a Consumed Tag Only one consumed can trigger a specific event task.
consumed tag Typically, use an IOT instruction in the producing controller
to signal the production of new data. The IOT instruction
sets an event trigger in the producing tag. This trigger
passes to the consumed tag and triggers the event task.
When a consumed tag triggers an event task, the event task
waits for all the data to arrive before the event task runs.
Registration input for an axis Axis Registration For the registration input to trigger the event task, first run
turns On (or Off) 1 or 2 a Motion Arm Registration (MAR) instruction. This lets the
axis detect the registration input and in turn trigger the
event task.
Once the registration input triggers the event task, run the
MAR instruction again to re-arm the axis for the next
registration input.
If the scan time of your normal logic is not fast enough to
re-arm the axis for the next registration input, consider
placing the MAR instruction within the event task.

Chapter 2 Manage Event Tasks
To trigger an event task Use this trigger With these considerations

when
Axis reaches the position that Axis Watch For the registration input to trigger the event task, first run
is defined as the watch point a Motion Arm Watch (MAW) instruction. This lets the axis
detect the watch position and in turn trigger the event task.
Once the watch position triggers the event task, run the
MAW instruction again to re-arm the axis for the next watch
position.
If the scan time of your normal logic is not fast enough to
re-arm the axis for the next watch position, consider placing
the MAW instruction within the event task.
Motion planner completes its Motion Group The base update period for the motion group triggers both
execution Execution the motion planner and the event task.
Because the motion planner interrupts all other tasks, it
runs first. If you assign the event task as the highest priority
task, it runs after the motion planner.
Specific condition or EVENT instruction Multiple EVENT instructions can trigger the same task. This lets
conditions occur within the you run a task from different programs.
logic of a program
The following table lists some example situations for event tasks and the
corresponding triggers.
For this example situation Use an event task with this trigger
A packaging line glues boxes closed. When a box arrives at the gluing Module Input Data State Change
position, the controller must immediately run the gluing routine.
A production line uses a proximity sensor to detect the presence of a part. Module Input Data State Change
Because the proximity sensor is on for only a very short time (pulse), the
continuous task might miss the off to on transition of the sensor.
In an engine test stand, you must capture and archive each sample of Module Input Data State Change
analog data.
Controller A produces an array of production data for Controller B. You Consumed Tag
want to make sure that Controller B does not use the values while
Controller A is updating the array.
In a line that packages candy bars, you have to make sure that the Axis Registration 1 or 2
perforation occurs in the correct location on each bar. Each time the
registration sensor detects the registration mark, check the accuracy of an
axis and perform any required adjustment.
At the labeling station of a bottling line, you want to check the position of Axis Watch
the label on the bottle. When the axis reaches the position that is defined
as the watch point, check the label.
A gluing station must adjust the amount of glue it applies to compensate Motion Group Execution
for changes in the speed of the axis. After the motion planner runs, check
the command speed of the axis and vary the amount of glue, if needed.
In a production line, if any of the programs detect an unsafe condition the EVENT instruction
entire line must shut down. The shutdown procedure is the same
regardless of the unsafe condition.

Manage Event Tasks Chapter 2
The triggers that you can use for an event task vary depending on your controller
type.
Important: The Logix Designer application may let you configure a trigger for an event task that your controller
does not support. The project verifies and successfully downloads, but the event task does not run.
Controller Applicable event task triggers

Module Input Consumed Axis Axis Watch Motion Group EVENT
Data State Tag Registration 1 Execution instruction
Change or 2
CompactLogix 5370 X X
CompactLogix 5480 X
FlexLogix X X
ControlLogix X X X X X X
DriveLogix X X X X X
SoftLogix5800 X1 X2 X X X X
(1) Requires a 1756 I/O module or a virtual backplane.
(2) A SoftLogix5800 controller produces and consumes tags only over a

ControlNet network.
Module Input Data State To trigger an event task based on data from an input module, use the Module
Input Data State Change trigger.
Change Trigger

Let an event trigger this task.
Let data from an input module trigger the task.
Let this input tag trigger the task.
When the task is done, do not update digital outputs in the local chassis.
How an I/O Module Triggers The following terms apply to the operation of an input module.
an Event Task
Term Definition
Multicast A mechanism where a module sends data on a network that is simultaneously received by
more than one listener (device). Describes the feature of the Logix5000 I/O line that supports
multiple controllers receiving input data from the same I/O module at the same time.
Requested packet interval The RPI specifies the interval that a module multicasts its data. For example, an input
(RPI) module sends data to a controller at the RPI that you assign to the module.
The range is 0.2750 ms.
When the specified time frame elapses, the module multicasts its data. This is also called
a cyclic update.
Real time sample (RTS) The RTS specifies when an analog module scans its channels and multicasts the data (update
the input data buffer then multicast).
The RPI specifies when the module multicasts the current contents of the input data
buffer without scanning (updating) the channels.
The module resets the RPI timer each time an RTS transfer occurs.
Change of state (COS) The COS parameter instructs a digital input module to multicast data whenever a specified
input point transitions from On Off or Off On.
You enable COS on a per-point basis.
When any point that is enabled for COS receives the specified change, the module
multicasts the data for all its points.
By default, COS is enabled for both On Off and Off On changes for all points.
You must specify an RPI regardless of whether you enable COS. If a change does not occur
within the RPI, the module sends its data at the RPI.

The following table summarizes when an input module multicasts its data and
triggers an event task within its own chassis.
If the input And Then it multicasts data And it triggers an event task
module is
Digital COS is enabled for When any point that is enabled for COS When any point that is enabled
any point on the receives the specified change for COS receives the specified
module At the RPI change
COS is not enabled At the RPI Never

for any point on the
module
Analog RTS RPI At the RTS (newly updated channel data) At the RTS for the module
RTS > RPI At the RTS (newly updated channel data) At the RTS for the module
At the RPI (does not contain updated
data from the channels)
If the module is in a remote chassis, only the RPI determines when the controller
receives the data and event trigger over the network.
Over this network Controller receives the data

EtherNet/IP Close to the RPI, on average
ControlNet At the actual packet interval ( RPI)
The following examples show COS and RTS configurations.
Important: If you use a digital module to trigger an event task, configure only one point on the module for COS. If you
configure multiple points, a task overlap could occur.
COS and RTS Configuration Examples

If you want this Then configure the input module like this (Point 0 is an example)

If you want this Then configure the input module like this (Point 0 is an example)
Make Sure Your Module Can To use an input module to trigger an event task, the module must support event
task triggering. If the module is in a remote location, the associated
Trigger an Event Task
communication modules must also support event triggering.
The following table lists Rockwell Automation modules that have been tested for
event task triggering. Some third-party modules may also support event task
triggering. Before you use a third-party module, check with the supplier to validate
the operation of the module.

Category Modules
Digital I/O modules that support change of state 1756-IA8D 1756-IA16
1756-IA16I 1756-IA32
1756-IB16 1756-IB16D
1756-IB16I 1756-IB16ISOE
1756-IB32 1756-IC16
1756-IG16 1756-IH16I
1756-IH16ISOE 1756-IM16I
1756-IN16 1756-IV16
1756-IV32
Analog I/O modules that support real time sample 1756-IF16 1756-IF4FXOF2F/A
1756-IF6CIS 1756-IF6I
1756-IF8 1756-IR6I
1756-IT6I 1756-IT6I2
Communication modules that provide rack-optimized 1756-CNB/A 1756-CNB/B
connections 1756-CNB/D 1756-CNBR/A
1756-CNBR/B 1756-CNBR/D
1756-DNB 1756-ENBT/A
1756-SYNCH/A 1784-PCIDS/A
Generic I/O modules that conform to CIP event 1756-MODULE
communication 1789-MODULE
Checklist for an Input Use the following checklist when creating an Input Event Task.
Event Task For This Make Sure You
1. Input module type For the fastest response, use these modules:
For fastest digital response, use a 1756-IB32/B module.
For fastest analog response, use a 1756-IF4FXOF2F module.
2. I/O module location Place the module that triggers the event and the modules that respond to the event
(outputs) in the same chassis as the controller.
Remote modules add network communication to the response time.
3. Number of local Limit the number of modules in the local chassis.
modules Additional modules increase the potential for backplane delays.
4. Change of state (COS) If a digital device triggers the event, enable COS for only the point that triggers the
event task.
Enable change of state for the type of transition that triggers the task, either Off
On, On Off, or both.
If you configure COS for both Off On and On Off, the point triggers an event
task whenever the point turns on or off. Make sure the duration of the input is
longer than the scan time of the task. Otherwise an overlap could occur.
Disable (clear) COS for the remaining points on the input module. If you configure
multiple points on a module for COS, each point could trigger the event task. This
could cause an overlap.
5. Task priority Configure the event task as the highest priority task.
If a periodic task has a higher priority, the event task may have to wait until the periodic
task is done.

6. Motion planner The motion planner interrupts all other tasks, regardless of their priority.
The number of axes and coarse update period for the motion group effect how long
and how often the motion planner executes.
If the motion planner is executing when a task is triggered, the task waits until the
motion planner is done.
If the coarse update period occurs while a task is executing, the task pauses to let
the motion planner execute.
7. Number of event Limit the number of event tasks.
tasks Each additional task reduces the processing time that is available for other tasks. This
8. Automatic Output For an event task, you can typically disable automatic output processing (default). This
Processing reduces the elapsed time of the task.
9. IOT instruction Use an IOT instruction for each output module that you reference in the event task.
The IOT instruction overrides the RPI for the module and immediately sends the data.
Example Input Event Task As parts move past a diverter location, the controller logic determines whether to
turn on the diverter. Once the diverter is on, the controller must also turn it off
before the next part is in that position. Because of the speed of the line, an event
task controls the diverter.

A photoeye at the diverter position indicates when a part is in the diverter

position. In this example the input is wired to the module in slot 4 of the local
chassis.
The diverter photoeye (point 0) is configured for change of state for both Off and
On. This lets the photoeye trigger the event task when it turns on and when it
turns off.
The event task uses the following logic to control the diverter.
If Diverter_Photoeye = 1 (part is in the diverter position)

and Divert_Part = 1 (divert this part)
then Diverter = 1 (turn on the diverter)
otherwise Diverter = 0 (turn off the diverter)
Immediately send the output values to the output module in slot 5.

Estimate Throughput To estimate the throughput time from input to output (screw to screw), use the
following worksheet.
Consideration Value
1. What is the input filter time of the module that triggers the event task? s
This is typically shown in milliseconds. Convert it to microseconds (s).
2. What is the hardware response time for the input module that triggers the event s
task?
Make sure you use the appropriate type of transition (Off On or
On Off). See Nominal hardware response times for the 1756 I/O
modules most commonly used with Event tasks later in this section.
3. What is the backplane communication time? s
If chassis size is Use this value (worst case)
4 slot 13 s
7 slot 22 s
10 slot 32 s
13 slot 42 s
17 slot 54 s
4. What is the total execution time of the programs of the event task? s
5. What is the backplane communication time? (Same value as step 3.) s
6. What is the hardware response time of the output module. s
7. Add steps 1...6. This is the minimum estimated throughput, where execution of the s
motion planner or other tasks do not delay or interrupt the event task.
8. What is the scan time of the motion group? s
9. What is the total scan time of the tasks that have a higher priority than this event s
task (if any)?
10 Add steps 7...9. This is the nominal estimated throughput, where execution of the s
. motion planner or other tasks delay or interrupt the event task.
The following table lists nominal hardware response times for 1756 I/O modules
with event tasks.
Cat. No. Nominal response time s

25 C 60 C
Off On On Off Off On On Off
1756-IB16 265 582 265 638
1756-IB16D 303 613 305 673
1756-IB32/B 330 359 345 378
1756-IV16 257 435 254 489
1756-IV32 381 476 319 536
1756-OB16D 48 519 51 573
1756-OB16E 60 290 61 324

Cat. No. Nominal response time s

25 C 60 C
Off On On Off Off On On Off
1756-OB32 38 160 49 179
1756-OV16E 67 260 65 326
1756-OV32E 65 174 66 210
Example Estimate The following example shows the throughput considerations for the system
shown in the following illustration. In this example, the throughput is the time
Throughput
from when the input turns on to when the output turns on.

Consideration Value
1. What is the input filter time of the module that triggers the event task? 0 s
This is typically shown in milliseconds. Convert it to microseconds (s).
2. What is the hardware response time for the input module that triggers the 330 s
event task?
Make sure you use the appropriate type of transition (Off On or
On Off). See the table, earlier in this section, that lists nominal
hardware response times for the 1756 I/O modules most commonly
used with Event tasks.
3. What is the backplane communication time? 13 s
If chassis size is Use this value (worst case)
4 slot 13 s
7 slot 22 s
10 slot 32 s
13 slot 42 s
17 slot 54 s
4. What is the total run time of the programs of the event task? 400 s
5. What is the backplane communication time? (Same value as step 3.) 13 s
6. What is the hardware response time of the output module. 51 s
7. Add steps 1...6. This is the minimum estimated throughput, where 807 s
execution of the motion planner or other tasks do not delay or interrupt the
event task.
8. What is the scan time of the motion group? 1130 s
9. What is the total scan time of the tasks that have a higher priority than this 0 s
event task (if any)?
10. Add steps 7...9. This is the nominal estimated throughput, where execution 1937 s
of the motion planner or other tasks delay or interrupt the event task.
Additional Considerations The following considerations affect the scan time of the event task, which affects
the speed at which it can respond to the input signal.
Consideration Description
Amount of code in the event task Each logic element (rung, instruction, Structured Text construct, and so forth)
adds scan time to the task.
Task priority If the event task is not the highest priority task, a higher priority task may delay
or interrupt the execution of the event task.
CPS and UID instructions If one of these instructions are active, the event task cannot interrupt the
currently running task. (The task with the CPS or UID.)

Motion Group Trigger To couple the running of an event task with the running of the motion planner,
use the Motion Group Execution trigger.
Let the motion planner trigger the task.
This is the name of the motion group tag.
Interrupt all other tasks.
The Motion Group Execution trigger works as follows:
The base update period for the motion group triggers the running of both
the motion planner and the event task.
Because the motion planner interrupts all other tasks, it runs first. If you
assign the event task as the highest priority task, it runs immediately after
the motion planner.

This timing diagram shows the relationship between the motion planner and the
event task.
The Base Update Period for the motion group triggers both the motion planner
and the event task. See the online help for more information on the Motion
Group Properties dialog box.

Checklist for a Motion The following is the checklist for a motion group task:
Group Task For This Make Sure You
1. Scan time Make sure the scan time of the event task is significantly less than the base update
period of the motion group. Otherwise, a task overlap could occur.
task is finished.
tasks Each additional task reduces the processing time that is available for other tasks. This
4. Automatic output For an event task, you can typically disable automatic output processing (default). This
processing reduces the elapsed time of the task.
To let the registration input of an axis trigger an event task, use the Axis
Axis Registration Trigger Registration 1 or Axis Registration 2 triggers.
Let registration input 1.
of this axis trigger the task.
When the specified registration input reaches its trigger condition, it triggers the
event task.

In the configuration of the event task, specify which registration input you
want to trigger the task. Choose either Axis Registration 1 or Axis
Registration 2.
You must first arm the registration input using a Motion Arm
Registration (MAR) instruction.
In the MAR instruction, the Trigger Condition operand defines which
transition of the registration input (Off On or On Off) triggers the
event task.
Once the registration input triggers the task, you have to re-arm the
registration input.
This timing diagram shows the relationship between the registration input and the
event task.
Checklist for an Axis The following is a checklist for an axis registration task:
Registration Task
For This Make Sure You
1. Registration input Arm the registration input (MAR instruction). This lets the axis detect the registration
input and trigger the event task.
Initially, arm the registration input to detect the first trigger condition.
Re-arm the registration input after each execution of the event task.
Re-arm the registration input fast enough to detect each trigger condition.
If your normal logic is Then
Fast enough to re-arm the registration Arm the registration input within your
input between intervals of the trigger normal logic, if desired.
condition
For example, normal logic always
completes at least two scans between
registration inputs.
Not fast enough to re-arm the registration Arm the registration input within the
input event task.

If a periodic task has a higher priority, the event task may have to wait until the
periodic task is finished.
3. Number of event tasks Limit the number of event tasks.
Each additional task reduces the processing time that is available for other tasks. This
Example Axis Registration In a line that packages candy bars, you have to make sure that the perforation
Trigger occurs in the correct location on each bar.
Each time the registration sensor detects the registration mark, check the
accuracy of an axis and perform any required adjustment.
Due to the speed of the line, you have to arm the registration input within
the event task.
A registration sensor is wired as registration input 1
for the axis named Axis_1.
This event task interrupts all other tasks.
The following logic arms and re-arms the registration input.
Continuous task
If Arm_Registration = 1 (system is ready to look for the registration mark) then

the ONS instruction limits the EVENT instruction to one scan.

the EVENT instruction triggers Task_1 (event task).
Task_1 (event task)

The GSV instruction sets Task_Status (DINT tag) = Status attribute for the event task. In the Instance Name attribute,
THIS means the TASK object for the task that the instruction is in (that is, Task_1).
If Task_Status.0 = 1 then an EVENT instruction triggered the event task. In the continuous task, the EVENT runs to arm
registration for the first time.
The JMP instruction causes the controller to jump to the Arm LBL instruction. This skips all the logic of the routine
except the rung that arms registration for the axis.
Other logic

The MAR instruction runs each time the task runs and arms Axis_1 for registration.
The OTU instruction sets the EN bit of the MAR instruction = 0.
The MAR instruction is a transitional instruction.
For the MAR instruction to run, its rung-condition-in must go from false to true.
By first clearing the EN bit, the instruction responds as if its rung-condition-in changed from false to true.
The MAR instruction arms the axis for registration.
The controller does not clear the bits of the Status attribute once they are set. To use a bit for new status information,
you must manually clear the bit.
If Task_Status.0 = 1 then clear that bit.
The OTU instruction sets Task_Status.0 = 0.
The SSV instruction sets the Status attribute of THIS task (Task_1) = Task_Status. This includes the cleared bit.

Axis Watch Trigger To configure the watch position of an axis to trigger an event task, use the
Axis Watch trigger.
Let the watch position.
of this axis trigger the task.
When the axis reaches the position that is specified as the watch position, it
triggers the event task.
You must first arm the axis for the watch position by using a Motion Arm
Watch (MAW) instruction.
In the MAW instruction, the Trigger Condition operand defines the
direction in which the axis must be moving to trigger the event task.
Once the axis reaches the watch position and triggers the event task, you
have to re-arm the axis for the next watch position.

This timing diagram shows the relationship between the watch position and the
event task.
Checklist for an Axis The following is a checklist for an axis watch task:
Watch Task For This Make Sure You
1. Watch position Use a MAW instruction to set up a watch position. This lets the axis trigger the event task
when it reaches the watch position.
Initially, arm the axis to detect the first watch position.
When the axis reaches the watch position and triggers the event task, re-arm the axis
for the next watch position.
Re-arm the axis fast enough to detect each watch position.
If your normal logic is Then
Fast enough to re-arm the axis between Arm the axis within your normal logic, if
intervals of the watch position desired.
(For example, normal logic always completes
at least two scans between watch positions.)
Not fast enough to re-arm the axis Arm the axis within the event task.
task is finished.
tasks Each additional task reduces the processing time that is available for other tasks. This could
cause an overlap.
Example Axis Watch Trigger At the labeling station of a bottling line, you want to check the position of the
label on the bottle.
When the axis reaches the position that is defined as the watch point, check
the label and perform any required adjustment.

Due to the speed of the line, you have to arm axis for the watch position
within the event task.
Let the watch position
for the axis named Axis_1 trigger the event task..
This event task interrupts all other tasks.
The following logic arms and re-arms the axis for the watch position.
Continuous task
If Arm_Watch = 1 (system is ready to set up a watch position) then
the ONS instruction limits the EVENT instruction to one scan.
the EVENT instruction triggers Task_1 (event task).
Task_1 (event task)

The GSV instruction sets Task_Status (DINT tag) = Status attribute for the event task. In the Instance Name attribute,
THIS means the Task object for the task that the instruction is in (that is, Task_1).
If Task_Status.0 = 1 then an EVENT instruction triggered the event task. In the continuous task, the EVENT runs to set
up the watch position for the first time.

The JMP instruction causes the controller to jump to the Arm LBL instruction. This skips all the logic of the routine
except the rung that arms the axis for the watch position (MAW instruction).
Other logic

The MAW instruction runs each time the task runs and arms Axis_1 for the watch position.
The OTU instruction sets the EN bit of the MAW instruction = 0.
The MAW instruction is a transitional instruction.
To run the MAW instruction, its rung-condition-in must go from false to true.
By first clearing the EN bit, the instruction responds as if its rung-condition-in changed from false to true.
The MAW instruction arms the axis for the watch position.
The controller does not clear the bits of the Status attribute once they are set. To use a bit for new status information,
you must manually clear the bit.
If Task_Status.0 = 1 then clear that bit.
The OTU instruction sets Task_Status.0 = 0.
The SSV instruction sets the Status attribute of THIS task (Task_1) = Task_Status. This includes the cleared bit.

Consumed Tag Trigger To trigger an event task based on data from a consumed tag, use the Consumed
Tag trigger.
Let a consumed tag trigger the task.
Let this consumed tag trigger the task.
A produced/consumed tag relationship can pass an event trigger along with data
to a consumer controller. Typically, you use an Immediate Output (IOT)
instruction to send the event trigger to the consumer controller.

Description
In Controller A, logic updates the values of a produced tag.
Once the update is complete, the Controller A runs an IOT instruction to send the data and an event trigger
to Controller B.
Controller B consumes the new data.
After Controller B updates the consumed tag, it runs the event task.
The type of network between the controllers determines when the consuming
controller receives the new data and event trigger through the IOT instruction.
The following table lists the times when the consuming device receives the new
data and event trigger.
With this controller Over this network The consuming device receives the data
and event trigger
ControlLogix Backplane Immediately
EtherNet/IP network Immediately
ControlNet network Within the actual packet interval (API) of the
consumed tag (connection)
SoftLogix5800 You can produce and consume tags only over Within the actual packet interval (API) of the
a ControlNet network consumed tag (connection)
The following diagrams compare the receipt of data via an IOT instruction over
EtherNet/IP and ControlNet networks.
EtherNet/IP Network (ControlLogix controller) ControlNet Network

Maintain the Integrity of Data An event task with a consumed tag trigger provides a simple mechanism to pass
data to a controller and make sure that the controller doesnt use the data while
the data is changing.
Description
RPI occurs for the produced tag.
The produced tag transfers old data to the consuming controller.
The producer controller starts to update the values of the produced tag.
RPI occurs again for the produced tag.

The produced tag transfers a mix of old and new data to the consuming controller.
The producer controller finishes updating the values of the produced tag.
The producer controller runs an Immediate Output (IOT) instruction.
The produced tag immediately transfers all the new data to the consuming controller.
When the consumer controller receives all the data, it runs its event task.
Although the producing controller runs the IOT instruction immediately after it
loads new data, the event task is not triggered (in the consuming controller) until
the consuming controller has received all the new data. This verifies that the
controller operates on a complete packet of new data.
Synchronize multiple Use the produced/consumed tag relationship to synchronize controllers. In this
case, the produced/consumed tag serves only as a triggering mechanism.
controllers

Description
The first controller runs an action with which other controllers need to stay synchronized.
When the action is done, the controller runs an IOT instruction. The IOT instruction uses a produced tag as
its target.
When controller A receives the produced tag, it runs its event task.
When controller B receives the produced tag, it runs its event task.
Checklist for the Producer The following is a checklist for the producer controller:
Controller

1. Buffer of data If you want to send a complete image of data at one instance in time, then produce a copy of the data, as shown in the following
illustration.

2. Produced tag On the New Tag dialog box for the produced tag, click Connection to open the Produced Tag Connection dialog box. Check
properties Send Data State Change Event to Consumer(s).
If you leave this checkbox cleared (unchecked), the producing controller triggers the event task at the end of any task that
automatically updates local outputs. In other words, the task scan triggers the event in addition to the IOT instruction.
3. IOT instruction Use an IOT instruction at the point in your logic where you want to trigger the event task.
The IOT instruction overrides the RPI for the tag and immediately sends the event trigger and the data of the tag.
Checklist for the Consumer The following is a checklist for the consumer controller:
Controller
1. Buffer of data If you want to make sure that the controller does not use data from the consumed tag while the
data is changing, use a copy of the consumed tag. Use the event task to copy the data, as shown
in the Event Task diagram.
If a periodic task has a higher priority, the event task may have to wait until the periodic task is
finished.
tasks Each additional task reduces the processing time that is available for other tasks. This could cause
an overlap.
4. Automatic output For an event task, you can typically disable automatic output processing (default). This reduces
processing the elapsed time of the task.

Example Producer Controller As parts move along a production line, each station requires production
specifications for the part at its station. To make sure that a station doesnt act on
and Consumer Controller
old data, an event task signals the arrival of new data for the next part.
Producer Controller This controller controls station 24 and produces data for the next station (station
25). To signal the transmission of new data, the controller uses the following
elements:
Produced_Tag
Ladder logic
Produced Tag Properties Produced_Tag is configured to update its event trigger through an IOT
instruction.

Ladder Logic If New_Data = on, then this occurs for one scan.
The CPS instruction sets Produced_Tag_1 = Source_Tag_1.
The IOT instruction updates Produced_Tag_1 and sends this update to the consuming controller (station 25).
When the consuming controller receives this update, it triggers the associated event task in that controller.
Consumer Controller
The controller at station 25 uses the data produced by station 24. To determine
when new data has arrived, the controller uses an event task.
Event Task Properties
Let a consumed tag trigger the task.
Let this consumed tag trigger the task.
Ladder Diagram in the Event When the event task runs, the CPS instruction sets Destination_Tag_1 = Consumed_Tag_1 (the values from the
producing controller). The remaining logic in this controller uses the values from Destination_Tag_1.
Task

EVENT Instruction Trigger To trigger an event task based on conditions in your logic, use the EVENT
Instruction Only trigger.
Let an EVENT instruction trigger the task.
No tag is required.
The EVENT Instruction Only trigger requires that you use a Trigger Event Task
(EVENT) instruction to trigger the task. You can use an EVENT instruction
from multiple points in your project. Each time the instruction runs, it triggers the
specified event task.

Description
Program A runs an EVENT instruction.
The event task that is specified by the EVENT instruction runs one time.
Program B runs an EVENT instruction.
The event task that is specified by the EVENT instruction runs one time.
Programmatically To determine if an EVENT instruction triggered an event task, use a

Get System Value (GSV) instruction to monitor the Status attribute of the task.
Determine if EVENT
Instruction Triggered Task Table 8 - Status Attribute of the TASK Object
Attribute Data Instruction Description
Type
Status DINT GSV Provides status information about the task. Once the controller sets a bit, you
SSV must manually clear the bit to determine if another fault of that type occurred.
To determine if Examine this bit
An EVENT instruction 0
triggered the task (event
task only).
A timeout triggered the task 1
(event task only).
An overlap occurred for this 2
task.
The controller does not clear the bits of the Status attribute once they are set.
To use a bit for new status information, you must manually clear the bit.
Use a Set System Value (SSV) instruction to set the attribute to a different
value.
Checklist for an EVENT The following is checklist for an EVENT instruction task:
Instruction Task For This Make Sure You
1. EVENT instruction Use a Trigger Event Task (EVENT) instruction at each point in your logic that you
want to trigger the event task.
If a periodic task has a higher priority, the event task may have to wait until the
periodic task is finished.
3. Number of event tasks Limit the number of event tasks.
Each additional task reduces the processing time that is available for other tasks.
This could cause an overlap.
4. Automatic output For an event task, you can typically disable automatic output processing (default).
processing This reduces the elapsed time of the task.

Example EVENT A controller uses multiple programs except for a common shut down procedure.
Each program uses a program-scoped tag named Shut_Down_Line that turns on if
Instruction Trigger
the program detects a condition that requires a shut down.
Event Task Properties
Let an EVENT instruction trigger the task.
No tag is required.
Ladder Diagram in Program_A If Shut_Down_Line = on (conditions require a shut down) then

run the Shut_Down task one time.
If Shut_Down_Line = on (conditions require a shut down) then

Ladder Diagram in Program_B
run the Shut_Down task one time.

Define a Timeout Value for If you want your event task to run automatically, if the trigger fails to occur within
a certain time, assign a timeout value to the task. When the event task is finished,
an Event Task the timeout timer begins to increment. If the timer reaches its preset value before
the event task is triggered, the event task runs automatically.
Description
Event task runs.
Timeout time stops incrementing.
Event task is done.
Timeout timer resets and begins incrementing.
Timeout timer reaches the timeout value.
Event task automatically runs.
In the Status attribute of the TASK object, bit 1 turns on.
Assign a Timeout Value Follow these steps to assign a timeout value to an event task.
to an Event Task

1. In the Controller Organizer, right-click Main Task and

choose Properties.
3. From the Type menu, choose Event.
4. Check Execute Task If No Event Occurs Within.
5. Type the timeout value.
6. Click OK.

Programmatically To programmatically configure a timeout, use a Get System Value (GSV)

instruction to access the attributes of the task. The following table lists the status
configure a timeout
attribute for the TASK object.
Attribute Data Instructi Description

Type on
Rate DINT GSV If the task type is Then the Rate attribute specifies the
SSV Periodic Period for the task. Time is in microseconds.
Event The timeout value for the task. Time is in
microseconds.
EnableTimeOut DINT GSV Enables or disables the timeout Function of an event task.
SSV To Set the attribute to
Disable the timeout 0 (default)
function
Enable the timeout 1 (or any non-zero value)
function
Example To make sure that a timeout value is always defined and enabled for an event task, the logic configures the timeout when the controller
enters Run mode.
If S:FS = 1 (first scan) then set the timeout value for Task_2 and enable the timeout function.
1. The first MOV instruction sets Task_2_Timeout = 10000000 s (DINT value). Then the SSV instruction sets the Rate attribute for
Task_2 = Task_2_Timeout. This configures the timeout value for the task.
2. The second MOV instruction sets One = 1 (DINT value). Then the SSV instruction sets the EnableTimeout attribute for Task_2 = One.
This enables the timeout function for the task.
Programmatically To determine if an event task ran due to a timeout, use a Get System Value (GSV)
determine if a timeout instruction to monitor the Status attribute of the task. The following table lists the
occurs Status attribute for the TASK object.

Attribute Data Instruction Description

Type
Status DINT GSV Provides status information about the task. Once the controller sets a bit, you must
SSV manually clear the bit to determine if another fault of that type occurred.
To determine if Examine this bit
An EVENT instruction triggered the task (event 0
task only).
A timeout triggered the task (event task only). 1
An overlap occurred for this task. 2
Example If a timeout occurs for the event task, communication with the triggering device might have failed. This requires the process to shut down. To shut down
the controller, the event task calls the fault routine for the program and supplies a user-defined fault code (999 in this example).
1. The GSV instruction sets Task_2_Status = Status attribute for Task_2 (DINT value).
2. If Task_2_Status.1 = 1, then a timeout occurred so shut down the controller and set the major fault code to 999.
The JSR instruction calls the fault routine for the program. This produces a major fault.
The major fault code = 999 (value of the input parameter of 999).
3. If Condition_1 = 1, then clear the bits of the Status attribute for Task_2.
The SSV instruction sets the Status attribute of Task_2 = Zero. Zero is a DINT tag with a value of 0.

Index
configure change of state 38
C trigger event task 38
change of state inhibit
configure for I/O module 38 task 24
communication
impact on execution 14
M
configure
output processing for a task 20 monitor
consumed tag task 18
maintain data integrity 59 motion planner
synchronize controllers 59 impact on execution 14
controller trigger event task 47
number of tasks 11
synchronize 59 O
COS. See change of state 38
create output processing
periodic task 28 manually configure 22
overview 20
programmatically configure 24
E overlap
event task manually check for 18
axis registration trigger 49 overview 17
axis watch trigger 53 programmaticlly check for 19
checklist for consumed tag event 60, 61 overrun. See overlap 17
checklist for input event 41
checklist for motion group event 49 P
checklist for registration event 50
checklist for watch position event 54 periodic task
choose trigger 35 create 28
consumed tag trigger 57 project
estimate throughput 44 number of tasks 11
EVENT trigger 64
input data trigger 37 R
motion group trigger 47
registration
timeout 67
execute trigger event task 49
event task 35
S
I synchronize
controllers 59
I/O
system overhead time slice
impact on execution 14
impact on executon 14
output processing 20
throughput for event task 44
I/O module
choose for event task 40
Index
T
tag
trigger event task 57
task
avoid overlap 17
choose event trigger 35
create periodic 28
define timeout 67
inhibit 24
manually check for overlap 18
manually configure output processing 22
monitor 18, 19
number supported 11
output processing 20
overlap 17
programmatically check for overlap 19
programmatically configure output processing 24
trigger via EVENT instruction 64
throughput
estimate for event task 44
timeout
define for event task 67
trigger
axis registration 49
axis watch 53
choose for event task 35
consumed tag 57
EVENT instruction 64
module input data 37
motion group 47
W
watch point
trigger event task 53

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Programming Manual

Logix5000 Controllers Tasks, Programs, and Routines

Labels may also be on or inside the equipment to provide specific precautions.

Rockwell Automation Publication 1756-PM005G-EN-P - December 2016 3

Preface Studio 5000 environment....................................................................................................7

Manage Tasks Introduction ........................................................................................................................ 11

Manage Event Tasks Introduction ........................................................................................................................ 35

Rockwell Automation Publication 1756-PM005G-EN-P - December 2016 5

Checklist for a Motion Group Task ....................................................................... 49

6 Rockwell Automation Publication 1756-PM005G-EN-P - December 2016

For a complete list of common procedures manuals, refer to the Logix5000

The Studio 5000 environment is the foundation for the future of

These documents contain additional information concerning related Rockwell

Rockwell Automation Publication 1756-PM005G-EN-P - December 2016 7

You can view or download publications at

Legal notices Copyright Notice

2016 Rockwell Automation, Inc. All rights reserved. Printed in USA.

This document and any accompanying Rockwell Software products are

End User License Agreement (EULA)

Allen-Bradley, Rockwell Automation, Rockwell Software, CompactLogix,

Any Rockwell Automation software or hardware not mentioned here is also a

CmFAS Assistant, CmDongle, CmStick, CodeMeter, CodeMeter Control

8 Rockwell Automation Publication 1756-PM005G-EN-P - December 2016

Rockwell Automation maintains current product environmental information on

Customer Support Telephone 1.440.646.3434

Online Support http://www.rockwellautomation.com/support/

Rockwell Automation Publication 1756-PM005G-EN-P - December 2016 9

The controller runs only one task at one time.

A Logix5000 controller supports the following types of tasks.

If you want to run a section Then use this Description

Rockwell Automation Publication 1756-PM005G-EN-P - December 2016 11

If you want to run a section Then use this Description

The following table lists example situations for the tasks.

For this example situation Use this type of task

12 Rockwell Automation Publication 1756-PM005G-EN-P - December 2016

The number of tasks supported depends on the controller.

This controller Supports this number of tasks Notes

Rockwell Automation Publication 1756-PM005G-EN-P - December 2016 13

The number of priority levels depends on the controller.

This Logix5000 controller Has this many priority levels

To assign a priority to a task, use the following guidelines.

If you want Then Notes

14 Rockwell Automation Publication 1756-PM005G-EN-P - December 2016

Task Priority Period Execution time Duration

Rockwell Automation Publication 1756-PM005G-EN-P - December 2016 15

The trigger occurs for event task 1.

For example, the following is true in this configuration.

16 Rockwell Automation Publication 1756-PM005G-EN-P - December 2016

Task Priority Execution Time Period Specified

The following guidelines generally leave enough time for unscheduled

Rockwell Automation Publication 1756-PM005G-EN-P - December 2016 17

If the type of task is Then

1. In the Controller Organizer, right-click MainTask and choose Properties.

18 Rockwell Automation Publication 1756-PM005G-EN-P - December 2016

2. On the Task Properties dialog box, click the Monitor tab.

Programmatically Check for When an overlap occurs, the controller:

If you want to Then access the object and attribute

Rockwell Automation Publication 1756-PM005G-EN-P - December 2016 19

If you want to Then access the object and attribute