Iec61131 en Abb

Programming Manual
Logix5000 Controllers IEC 61131-3 Compliance

Catalog Numbers 1756 ControlLogix, 1769 CompactLogix, 1789 SoftLogix, 1794 FlexLogix, PowerFlex 700S with DriveLogix
Important User Information

Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety
Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from
your local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/) describes some
important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference,
and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment
must satisfy themselves that each intended application of this equipment is acceptable.
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
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.
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
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 contains new and updated information.
IMPORTANT RSLogix 5000 programming software is now known as Studio 5000 Logix Designer application, a
component of Studio 5000 Engineering and Design Environment.
The following controllers are no longer supported in the Logix Designer

application, version 21.
Catalog Number
Description
1756-L61
ControlLogix 5561 Controller
1756-L61S
ControlLogix 5561S Controller
1756-L62
1756-L62S
1756-L63
1756-L63S
1756-L64
1756-L65
1768-L43
CompactLogix 5343 Controller
1768-L43S
CompactLogix 5343S Controller
1768-L45
1768-L45S
CompactLogix 5345S Controller
1769-L23E-QBF1
CompactLogix 5323E-QB1 Controller
1769-L23E-QBFC1
CompactLogix 5323E-QBFC1 Controller
1769-L23-QBFC1
CompactLogix 5323-QBFC1 Controller
1769-L31
1769-L32C
CompactLogix 5332C Controller
1769-L32E
CompactLogix 5332E Controller
1769-L35CR
CompactLogix 5335CR Controller
1769-L35E
CompactLogix 5335E Controller
Changes throughout this revision are marked by change bars, as shown in the
margin of this page.
Rockwell Automation Publication 1756-PM018C-EN-P - November 2012
Summary of Changes
Notes:
Table of Contents
Preface
Studio 5000 Engineering and Design Environment and

Logix Designer Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
In This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
IEC61131-3 Compliance
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Operating System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Data Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Programming Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
IEC61131-3 Program Portability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
IEC Compliance Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Table of Contents
Preface
Studio 5000 Engineering and

Design Environment and
Logix Designer Application
The Studio 5000 Engineering and Design Environment combines engineering

and design elements into a common environment. The first element in the
Studio 5000 environment is the 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. It is the one
place for design engineers to develop all the elements of their control system.
In This Manual
This manual explains the series of specifications developed by the International

Electrotechnical Commission (IEC) for programmable controllers and how to
use them with your Logix5000 controller and programming software.
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, see the Logix 5000 Controllers Common Procedures
Programming Manual, publication 1756-PM001.
The term Logix5000 controller refers to any controller that is based on the
Logix5000 operating system, such as:
CompactLogix controllers
ControlLogix controllers
DriveLogix controllers
FlexLogix controllers
SoftLogix5800 controllers
Preface
Notes:
Chapter
Introduction
The International Electrotechnical Commission (IEC) has developed a series of

specifications for programmable controllers. These specifications are intended to
promote international unification of equipment and programming languages for
use in the controls industry. These standards provide the foundation for
Logix5000 controllers and the Logix Designer application.
The IEC programmable controller specification is broken down into five separate
parts each focusing on a different aspect of the control system:
Part 1: General Information
Part 2: Equipment and Requirements Test
Part 3: Programming Languages
Part 4: User Guidelines
Part 5: Messaging Service Specification
The controls industry as a whole has focused on part 3 (IEC61131-3),
Programming Languages, because it provides the cornerstone for implementing
the other standards and provides the most significant end user benefit by
reducing training cost. Because of this, only IEC61131-3 is addressed here.
The IEC61131-3 programming language specification addresses numerous
aspects of programmable controller including the operating system execution,
data definitions, programming languages, and instruction set. Components of the
IEC61131-3 specification are categorized as required by the specification,
optional or extensions. By so doing, the IEC61131-3 specification provides a
minimum set of functionality that can be extended to meet end user application
needs. The downside of this approach is that each programmable control system
vendor may implement different components of the specification or provide
different extensions.
Chapter 1
Operating System
The preemptive, multitasking operating system (OS) of Logix5000 controllers

complies with the IEC61131-3 definition. In IEC61131-3, the programmable
controllers OS can contain zero or more tasks, that can execute one or more
programs each containing one or more functions or routines. According to
IEC61131-3, the number of each of these components is implementation
dependent. Logix5000 controllers provide multiple tasks, each containing
multiple programs and an unlimited number of functions or routines.
IEC61131-3 provides an option for creating different task execution
classifications. Tasks may be configured as continuous, periodic, or event based. A
continuous task does not need to be scheduled in that it will utilize any left over
processing time when other tasks are dormant. Periodic tasks are scheduled to
operate based on a reoccurring time period. The IEC61131-3 specification does
not specify a time base for periodic task configuration. An IEC61131-3 event
based task is triggered upon detection of the rising edge of a configured input.
Logix5000 controllers support both continuous and periodic tasks. Additionally,
the period for a periodic task is configurable starting as low as 1 millisecond (ms).
Data Definitions
The IEC61131-3 specification provides access to memory through the creation

of named variables. IEC61131-3 names for variables consist of a minimum of six
characters (Logix Designer application supports a minimum of 1 character)
starting with an underscore _ or an alpha character (A-Z), followed by one or
more characters consisting of an underscore _, alpha character (A-Z) or a
number (0-9). Optionally, lower case alpha characters (a-z) can be supported as
long as they are case insensitive (A = a, B = b, C = c ). Logix5000 controllers
provide full compliance with this definition, support the lower case option, and
extend the name to support up to 40 character names.
Data variables in IEC61131-3 may be defined such that they are accessible to all
programs within a resource or controller, or limited access is provided only to the
functions or routines within a single program. To pass data between multiple
resources or controllers, access paths may be configured to define the location of
the data within a system. Logix5000 controllers provide compliance by providing
program scoped, controller scoped data and permits the configuration of access
paths using produced/consumed data.
The memory interpretation of a variable within IEC61131-3 is defined through
the use of either an elementary data type or an optional derived data type that is
created from a group of multiple data types. Logix5000 controllers support the
use of the BOOL (1 bit), SINT (8 bit integer), INT (16 bit integer), DINT (32
bit integer) and REAL (IEEE floating point number) elementary data types.
Additionally, the optional derived data types are supported through the creation
of user defined structures and arrays.
10
Programming Languages
Chapter 1
The IEC61131-3 specification defines five (5) different programming languages

and a set of common elements. All languages are defined as optional but at least
one must be supported in order to claim compliance with the specification. The
IEC61131-3 programming language components are defined as follows:
Common Language Elements
Common Graphical Elements
Instruction List (IL) Language Elements
Structured Text Language (ST) Elements
Ladder Diagram (LD) Language Elements
Sequential Function Chart (SFC) Language Elements
Function Block Diagram (FBD) Language Elements
Logix5000 controllers and the Logix Designer application provide support for
the common language elements and the Structured Text, Ladder Diagram,
Sequential Function Chart, and Function Block Diagram language options.
Additionally, the environment utilizes an ASCII import/export format based on
the Structured Text language. The instruction set and program file exchange
features are discussed in detail in the sections that follow.
Instruction Set
The instruction set specified by IEC61131-3 is entirely optional. The

specification lists a limited set of instructions that if implemented must conform
to the stated execution and visual representation. IEC61131-3 however, does not
limit the instructions set to those listed within the specification. Each PLC
vendor is free to implement additional functionality in the form of instructions
over and above those listed by the specification. Examples of such extended
instructions are those needed to perform diagnostics, PID loop control, motion
control and data file manipulation. Because extended instructions are not defined
by the IEC61131-3 specification, there is no guarantee that the implementation
between different PLC vendors will be compatible. Thus utilization of these
instructions may preclude the movement of logic between vendors.
Logix5000 controllers and the Logix Designer application provide a suite of
instructions that execute as defined by the IEC61131-3 specification. The
physical representation of these instructions maintain their look and feel with
existing systems so as to reduce the training cost associated with working with the
environment. In addition to the IEC61131-3 compliant instructions, a full range
of instructions from existing products have been brought forward into the
environment so that no functionality is lost.
11
Chapter 1
IEC61131-3 Program Portability
One of the goals of end-users creating programs in an IEC61131-3 compliant

environment is the movement or portability of programs between controllers
developed by different vendors. This area is a weakness of IEC61131-3 because
no file exchange format is defined by the specification. This means that if any
program created in one vendor's environment will require manipulation to move
it to another vendor's system.
In order to minimize the effort involved in performing cross-vendor portability,
the Logix Designer application for the controllers includes a full ASCII export
and import utility. Additionally, the file format that is utilized by this tool is
based on a hybrid of the IEC61131-3 Structured Text language definition.
Controller operating system and data definitions follow the appropriate
IEC61131-3 formats. Extensions were implemented in order to convert Ladder
Diagram logic into ASCII text since this is not defined by IEC61131-3.
For more information on the ASCII export and import utility of the Logix
Designer application, see the Logix5000 Controllers Import/Export Reference
Manual, publication 1756-RM084.
12
IEC Compliance Tables
Chapter 1
Logix5000 controllers and the Logix Designer application comply with the
requirements of IEC61131-3 for the following language features:
Table Number:(1)
Feature Number:
Feature Description:
Extensions and Implementation Notes:
Lower case letters
none
3a
Number sign (#)
Used for immediate value data type designation
4a
Dollar sign ($)
Used for description and string control character
6a
Subscript delimiters ([ ])
Array subscripts
Identifiers using upper case and numbers
Task, program, routine, structure and tag names
Identifiers using upper case, numbers, and embedded

underlines
Identifiers using upper and lower case, numbers and

embedded underlines
Comments
ST Comments, also support /* Comment */, and // End of line

comments.
Integer literal
12, 0, -12
Real literal
12.5, -12.5
Real literal with exponents
-1.34E-12, 1.234E6
Base 2 literal
2#0101_0101
Base 8 literal
8#377
Base 16 literal
16#FFE0
Boolean zero and one
0, 1
1A
Empty String ''
Descriptions, and String Editor
1B
String of length one containing a character 'A'
1C
String of length one containing a space ' '
1D
String of length one containing a single quote character '$''
1E
String of length one containing a double quote character '"'
1F
String of length two containing CR and LF characters
1G
String of length one containing the LF character '$0A'
1H
String of length 5 which would print as "$1.00" using '$$1.00'
1I
Equivalent strings of length two 'AE', and '$C4$CB'
String dollar sign '$$'
String single quote '$''
String Line Feed '$L' or '$l'
String New-line '$N' or '$n'
String From Feed (page) '$P' or '$p'
String Carriage return '$R' or '$r'
String Tab '$T' or '$t'
String double quote $"
10
BOOL Data Type
Tag variable definition
10
SINT Data Type
10
INT Data Type
13
Chapter 1
Table Number:(1)
Feature Number:
10
DINT Data Type
10
10
REAL Data Type
10
12
Time
Tag variable definition, TIMER Structure
10
16
STRING data type
8 Bits
11
Data type Hierarchy
none
12
Direct Derivation from elementary types
User Defined data type structures
12
Array data types
12
Structured Data types
User defined data type structures
13
BOOL, SINT, INT, DINT initial value of 0
13
REAL, LREAL initial value of 0.0
13
Time initial value of T#0s
Tag variable definition, reset (RES) instruction
13
Empty String ''
Descriptions and Strings
14
Initialization of directly derived types
Import/export
14
Initialization of array data types
Import/export
14
Initialization of structured type elements
Import/export
14
Initialization of derived structured data types
Import/export
19a
2a
Textual invocation, non-formal
Available in ST
20
Use of EN and ENO
Function present in LD but not labeled. Available in FBD.
20
Usage without EN and ENO
Available in FBD
20
Usage with EN and without ENO
Available in FBD
20
Usage without EN and with ENO
Available in FBD
21
Overloaded functions ADD(INT, DINT) or ADD(DINT, REAL)
All overloaded types that are supported are documented with

each instruction
22
_TO_ conversion function
RAD, DEG instructions Radians to/from Decimal. String numeric

conversion STOD, STOR, RTOS, DTOS. Others not needed
because of instruction overloading
22
Truncate conversion function
TRN instruction in LD and TRUNC function in ST
22
BCD to INT Convert
FRD instruction in LD
22
INT to BCD Convert
TOD instruction in LD
23
Absolute value
ABS instruction
23
Square root
SQR instruction in LD and FBD and SQRT function in ST.
23
Natural log
LN instruction
23
Log base 10
LOG instruction
23
Sine in radians
SIN instruction / function
23
Cosine in radians
COS instruction / function
23
Tangent in radians
TAN instruction / function
23
Principal arc sine
ASN instruction in LD and FBD, and ASIN function in ST
23
10
Principal arc cosine
ACS instruction in LD and FBD, and ACOS function in ST
23
11
Principal arc tangent
ATN instruction in LD and FBD, and ATAN function in ST
24
12
Arithmetic add
ADD instruction in LD and FBD, and + in ST.
14
Chapter 1
Table Number:(1)
Feature Number:
24
13
Arithmetic multiplication
MUL instruction in LD and FBD, and * in ST.
24
14
Arithmetic subtraction
SUB instruction in LD and FBD, and - in ST.
24
15
Arithmetic divide
DIV instruction in LD and FBD, and / in ST.
24
16
Modulo
MOD instruction LD and ST
24
17
Exponentiation
XPY instruction in LD and FBD, and ** in ST.
24
18
Value move
MOV instruction in LD, and := in ST.
25
Bit shift left
Functionality contained in BSL instruction in LD for shift of 1
25
Bit shift right
Functionality contained in BSR instruction in LD for shift of 1
25
Bit rotate left
Functionality contained in BSL instruction in LD for shift of 1
25
Bit rotate right
Functionality contained in BSR instruction in LD for shift of 1
26
AND
BAND instruction in FBD, and "&" operator in ST
26
OR
BOR instruction in FBD
26
XOR
BXOR instruction in FBD
26
NOT
BNOT instruction in FBD
27
SELECT
SEL instruction in FBD
27
2a
Maximum select MAX
Functionality contained in ESEL instruction in FBD and ST
27
2b
Minimum select MIN
Functionality contained in ESEL instruction in FBD and ST
27
High/Low limit LIMIT
HLL instruction in FBD and ST
27
Multiplexer MUX
MUX instruction in FBD
28
Comparison greater-than
GRT instruction in LD and FBD, and > in ST.
28
Comparison greater-than or equal
GRE instruction in LD and FBD, and >= in ST.
28
Comparison equal
EQU instruction in LD and FBD, and = in ST.
28
Comparison less-than
LES instruction in LD and FBD, and < in ST.
28
Comparison less-than or equal
LEQ instruction in LD and FBD, and <= in ST.
28
10
Comparison not equal
NEQ instruction in LD and FBD, and <> in ST.
29
String length LEN
Contained as Parameter of STRING data type
29
Middle string MID
MID instruction in LD and ST
29
String concatenation CONCAT
CONCAT instruction in LD and ST
29
String insert INSERT
INSERT instruction in LD and ST
29
String delete DELETE
DELETE instruction in LD and ST
29
Find string FIND
FIND instruction in LD and ST
32
Input read
FBD and ST
32
Input write
FBD and ST
32
Output read
FBD and ST
32
Output write
FBD and ST
34
Bistable set dominant
SETD instruction in FBD and ST
34
Bistable reset dominant
RESD instruction in FBD and ST
35
Rising edge detector
OSR instruction in LD and OSRI instruction in FBD and ST
35
Falling edge detector
OSF instruction in LD and OSFI instruction in FBD and ST
15
Chapter 1
Table Number:(1)
Feature Number:
36
1b
Up-counter
Functionality contained in CTU and RES instructions in LD and

in CTUD instruction in FBD and ST
37
2a
On-delay timer
Functionality contained in TON instruction in LD and TONR

instruction in FBD and ST
37
3a
Off-delay timer
Functionality contained in TOF instruction in LD and TOFR

38
On-delay timing
Functionality contained in TON instruction in LD and TONR

38
Off-delay timing
Functionality contained in TOF instruction in LD and TOFR

40
1a
SFC Step
40
1b
SFC initial Step
40
2a
SFC Step Textual
Import/export, step name is specified using the format

"Operand := step_name"
40
2b
SFC initial Step textual
Import/export, uses "InitialStep" Parameter and step name is

specified using the format "Operand := step_name"
40
3a
SFC Step Flag general form
Step backing tag
40
Step elapsed time general form
Step backing tag
41
Transition using ST
41
Transition textual form
Import/export with different formatting
41
Transition Name
Transition Backing Tag
41
7a
Transition Set by LD
41
7b
Transition Set by FBD
41
7d
Transition Set by ST
42
Action Boolean
Action Backing tag
42
3s
Action textual representation
Import/export
43
Step Action association
43
Step with Concatenated Actions
43
Textual Step body
Import/export with different formatting
43
Action Body Field
Embedded ST
44
Action Block Qualifier
44
Action Block Name
44
Action Indicator Tag
Extended this to support DINT, INT, SINT, or REAL in addition to

BOOL
44
Action using ST
Supports both embedded ST and JSR to ST routine
44
Action using LD
Using JSR to LD routine
44
Action using FBD
Using JSR to FBD Routine
45
Action Qualifier None
Default is N when none is explicitly entered
45
Action Qualifier N - Non-stored
45
Action Qualifier R - Reset
45
Action Qualifier S - Set / Stored
45
Action Qualifier L - Time Limited
16
Table Number:(1)
Feature Number:
45
Action Qualifier D - Time Delayed
45
Action Qualifier P - Pulse
45
Action Qualifier SD - Stored and Time Delayed
45
Action Qualifier DS - Delayed and Stored
45
10
Action Qualifier SL - Stored and time limited
45
11
Action Qualifier P1 - Pulse Rising Edge
45
12
Action Qualifier P0 - Pulse Falling Edge
45a
Action Control
45a
Action Control
46
SFC Single Sequence
46
2a
SFC Divergence of sequence selection
46
2b
SFC Divergence of sequence selection with execution order.
46
SFC Convergence of sequence selection
46
4a
SFC Simultaneous sequence divergence
46
4b
SFC Simultaneous sequence convergence
46
5a, b, c
SFC Sequence Skip
46
6a, b, c
SFC Sequence Loop
46
SFC Loop directional arrows
47
SFC Graphical representation
47
SFC Graphical representation
48
SFC Minimal Step Compliance Requirements
Refer to notes on individual tables above.
48
SFC Minimal Transition Compliance Requirements
48
SFC Minimal Action Compliance Requirements
48
SFC Minimal Action Body Compliance Requirements
48
SFC Minimal Action Qualifier Compliance Requirements
48
SFC Minimal Branch Compliance Requirements
48
SFC Minimal Block Connection Compliance Requirements
55
ST Parenthesization (expression)
55
ST Function Evaluation
55
ST Exponentiation **
55
ST Negation -
55
ST Negation NOT
55
ST Multiply *
55
ST Divide /
55
ST Modulo MOD
55
ST Add +
55
10
ST Subtract -
55
11
ST Comparison <, >, <=, >=
Chapter 1
Use of line connections vs. asterisk
When wire is hidden
Using non-formal form of invocation for built in functions. JSR

used within ST language to call user developed code.
17
Chapter 1
Table Number:(1)
Feature Number:
55
12
ST Equality =
55
13
ST Inequality <>
55
14
ST Boolean AND as &
55
15
ST Boolean AND
55
16
ST Boolean XOR
55
17
ST Boolean OR
56
ST Assignment :=
56
ST Function Block invocation
56
ST RETURN
56
ST IF / ELSIF / ELSE/ END_IF
56
ST CASE OF / ELSE / END_CASE
56
ST FOR / END_FOR
56
ST WHILE DO / END_WHILE
56
ST REPEATE / UNTIL / END_REPEAT
56
ST EXIT
56
10
ST Empty Statement ;
57
1, 2
Horizontal line
LD editor, FBD editor
57
3, 4
Vertical line
57
5, 6
Horizontal / Vertical connection
57
7, 8
Line crossings without connection
FBD editor
57
9, 10
Connection and non-connection corners
57
11, 12
Blocks with connections
57
13,14
Connectors
FBD editor
58
Unconditional jump
JMP instruction in LD
58
Jump target
LBL instruction in LD
58
Conditional jump
JMP instruction in LD
58
Conditional return
RET instruction in LD
58
Unconditional return
RET instruction in LD
59
Left hand power rail
LD editor
59
Right hand power rail
LD editor
60
Horizontal link
LD editor
60
Vertical link
LD editor
61
1, 2
Normally open contact --| |--
XIC instruction in LD
61
3, 4
Normally close contact --| / |--
XIO instruction in LD
61
5, 6
Positive transition sensing contact -| P |-
ONS instruction in LD
62
Coil --( )--
OTE instruction in LD
62
Set (latch) coil
Functionality contained in OTL instruction in LD
18
RET( ) with multiple Parameters
Table Number:(1)
Feature Number:
62
Reset (unlatch) coil
Functionality contained in OTU instruction in LD
62
Positive transition sensing coil
OSR instruction in LD
62
Negative transition sensing coil
OSF instruction in LD
Chapter 1
(1) Table associated with languages other than Structured Text, sequential function chart, Ladder diagram and Function Block diagram have been skipped.
19
Chapter 1
Notes:
20
Rockwell Automation Support

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 manuals, a knowledge base of FAQs, technical and
application notes, sample code and links to software service packs, and a MySupport feature that you can customize to make the
best use of these tools.
For an additional level of technical phone support for installation, configuration, and troubleshooting, we offer TechConnect
support programs. For more information, contact your local distributor or Rockwell Automation representative,
or visit http://www.rockwellautomation.com/support/.
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 at http://www.rockwellautomation.com/support/americas/phone_en.html, or contact your local Rockwell

Automation representative.
New Product Satisfaction Return

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.
United States
Contact your distributor. You must provide a Customer Support case number (call the phone number above to obtain one) to your
distributor to complete the return process.
Outside United States
Please contact your local Rockwell Automation representative for the return procedure.
Documentation Feedback
Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this document,
complete this form, publication RA-DU002, available at http://www.rockwellautomation.com/literature/.
Rockwell Otomasyon Ticaret A.., Kar Plaza Merkezi E Blok Kat:6 34752 erenky, stanbul, Tel: +90 (216) 5698400
Rockwell Automation Publication 1756-PM018C-EN-P - November 2012 22

Supersedes Publication 1756-PM018B-EN-P - July 2008
Copyright 2012 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.
Introduccin al estndar IEC 61131-3

Este documento es una traduccin libre, comentada y resumida por el equipo tcnico de AISA
del material presentado en el website de la Organizacin PLCopen http://www.plcopen.org/ con
objeto de difundir el contenido y alcance de dichos estndares.
El estndar internacional IEC 61131 es una coleccin completa de estndares

referentes a controladores programables y sus perifricos asociados. Consiste
de las siguientes partes:
Parte1: Informacin General
Establece las definiciones e identifica las principales caractersticas significativas
a la seleccin y aplicacin de los controladores programables y sus perifricos
asociados.
Parte 2: Equipo requerimientos y pruebas
Especifica los requisitos del equipo y pruebas relacionadas para los
controladores programables (PLC) y sus perifricos asociados.
Parte 3: Lenguajes de Programacin
Define como un conjunto mnimo, los elementos bsicos de programacin.
Reglas sintcticas y semnticas para los lenguajes de programacin usados
mas comnmente, incluyendo los lenguajes grficos de Diagrama de Escalera y
Diagrama de Bloques de Funciones y los lenguajes textuales de Lista de
Instrucciones y Texto estructurado. As como sus principales campos de
aplicacin, pruebas aplicables y los medios por los cuales los fabricantes pueden
expandir o adaptar esos conjuntos bsicos a sus propias implementaciones de
controlador programable.
Parte 4: Guas de Usuario.
Un reporte tcnico que proporciona una vista general y guas de aplicacin del
estndar para los usuarios finales de los controladores programables.
Parte 5: Especificacin del servicio de Mensajera.
Define la comunicacin de datos entre controladores programables y otros
sistemas electrnicos usando el Manufacturing Message Specification (MMS,
acorde al ISO/IEC 9506).
Parte 7: Programacin en lgica difusa.
Define los elementos bsicos de programacin de lgica difusa para su uso en
Controladores programables.
Parte 8: Guas para aplicacin e implementacin de lenguajes de
programacin.
Proporciona una gua para los desarrolladores de software para los lenguajes de
programacin definidos en la parte 3.
Pgina 1 de 1
El IEC 61131-3 un recuso de programacin estndar.

IEC 61131-3 es el primer esfuerzo real para estandarizar los lenguajes de
programacin usados en para la automatizacin industrial.. Con su soporte
mundial, es independiente de una sola compaa.
Esta parte de programacin, es la tercera del estndar 61131.
Hay muchas formas de ver esta parte del estndar. Algunas son:
x Es el resultado de la fuerza de trabajo3 del IEC TC65 SC65B.
x Es resultado del trabajo de 7 compaas internacionales sumando
muchos aos de experiencia en el campo de la automatizacin industrial.
x Son aproximadamente 200 pginas de texto, con unas 60 tablas.
x Es la especificacin de la sintaxis y semntica de un conjunto unificado de
lenguajes de programacin incluyendo el modelo general del software y
su estructura como lenguaje.
Una forma conveniente de verlo, es dividiendo el estndar en 2 partes:
1. Elementos Comunes.
2. Lenguajes de Programacin.
Veamos con mayor detalle estas 2 partes.
Elementos Comunes.
Tipos de Datos.
Dentro de los elementos comunes se definen los tipos de datos. La tipificacin
de los datos previene errores en una etapa temprana. Se usa para definir el tipo
de cualquier parmetro usado. Esto evita que por ejemplo se divida una fecha
entre un entero.
Los tipos de datos comunes son: Boolean, Integer, Real, Byte y Word. Tambin
Date, Time_of_Day y String. Basado en ellos, uno puede definir sus propios
tipos de datos, llamados tipos de datos derivados.
Variables.
Las variables son nicamente asignadas a direcciones de hardware explicitas
(por ejemplo entradas y salidas) en la configuracin, recursos o programas. De
esta manera se le da a los programas una independencia de alto nivel del
hardware, soportando el re-uso del software.
El enfoque (visibilidad) de las variables es normalmente limitado a la unidad de
organizacin en la cual son declaradas (por ejemplo: local). Esto significa que
sus nombres pueden ser usados nuevamente sin ningn conflicto en otras
partes, eliminando otra fuente de errores. Si las variables requieren un alcance
global, deben ser declaradas como tales. Los parmetros pueden recibir un valor
inicial al arranque y al reinicio en fri, con objeto de asegurar su valor correcto
al inicio de la ejecucin de los programas.
Pgina 2 de 2

Configuracin, recursos y tareas.
Para entender mejor esto, es conveniente ver el modelo de software, tal como se
define en el estndar:
Al nivel mas alto, el software completo que se requiere para solucionar un
problema de control particular puede ser formulado como una configuracin. Una
configuracin es especfica a un sistema de control particular, incluyendo el
arreglo del hardware, recursos de procesamiento, direcciones de memoria para
los canales de entrada/salida y otras capacidades del sistema.
Dentro de una configuracin, se pueden definir una o ms tareas. Estas tareas
controlan la ejecucin de un conjunto de programas y/o bloques de funcin. Las
tareas pueden ser ejecutadas peridicamente o a la ocurrencia de algn evento
disparador, por ejemplo el cambio en una variable.
Los programas estn constituidos por diferentes elementos de software escritos
en cualquiera de los lenguajes definidos por IEC. Tpicamente un programa
consiste de una red (network) o funciones y bloques de funcin que son capaces
de intercambiar datos. Las funciones y los bloques de funcin son los bloques de
construccin bsicos y contienen una estructura de datos y un algoritmo.
Comparemos lo anterior con un PLC convencional: Este contiene recursos
corriendo una tarea, corriendo un programa. IEC 61131-3 le agrega a esto
mucho mas, hacindolo abierto a mayores capacidades tales como
multiprocesamiento y conduccin por sucesos.
Unidades de organizacin del programa.

En IEC 61131-3 los Programas, Bloques de Funcin y Funciones son llamados
Unidades de Organizacin de Programa (program organization units o POUs).
Funciones
IEC define Funciones Estndar y Funciones Definidas por el Usuario. Las
funciones estndar son por ejemplo: ADD (suma), ABS (absoluto), SQRT
(cuadrado) SIN (seno), etc. Las funciones definidas por el usuario (basadas en
las funciones estndar), una vez definidas pueden ser re-usadas una y otra vez.
Bloques de Funcin (Function Blocks FBs)
Los Bloques de Funcin son los equivalentes a los circuitos integrados y
representan una funcin de control especializada. Contienen datos as como el
algoritmo as que pueden conservar informacin de su estado. Esto las
diferencia de las funciones.
Nota: Una funcin siempre da la misma salida para las mismas entradas. Un
bloque de Funcin no, ya que puede tomar en cuenta como llego a su estado
actual.
Pgina 3 de 3

Los Bloques de Funcin cuentan con una Interface bien definida y su parte
interna oculta. Esto es actan como una caja negra. Esto permite una clara
separacin entre diferentes niveles de programadores o personal de
mantenimiento.
Un lazo de control de temperatura, o un PID es un excelente ejemplo de un
Bloque de Funcin. Una ves definido puede ser usado una y otra ves en el
mismo programa, diferentes programas o diferentes proyectos, es decir son reusables.
Los Bloques de Funcin pueden ser escritos en cualquiera de los lenguajes
definidos por el estndar IEC y en muchos casos incluso en C. Tambin
pueden definirse por el usuario, basados en los existentes, obtenindose as los
Bloques de Funcin derivados.
Programas
Con los bloques constructivos mencionados anteriormente se puede decir que
un Programa es una Red de Funciones y Bloques de Funcin. Un programa
puede ser escrito en cualquiera de los lenguajes de programacin definidos en el
estndar.
Grafica de Secuencia de Funciones (Sequential Function Chart - SFC)

SFC describe grficamente el comportamiento secuencial de un programa de
control. Se derivan de sus antecesores Petri Nets y del IEC848 Grafcet.
El SFC estructura la organizacin interna de un programa y ayuda a
descomponerlo en partes ms fcilmente manejables, mientras mantiene la
visin general.
El SFC consiste de Pasos enlazados con Bloques de Accin y Transiciones.
Cada Paso representa un estado particular del sistema que se esta controlando.
Una transicin se asocia con una condicin (condiciones) que cuando es cierta
causa que el paso previo se desactive y el paso prximo se active. Los pasos
estn ligados a bloques de Accin, que ejecutan algunas acciones de control
pertinentes a dicho Paso.
Cada elemento del diagrama puede ser programado en cualquiera de los
lenguajes definidos por el estndar IEC, incluido el propio SFC.
Se pueden usar secuencias alternativas o incluso paralelas segn se requiere
con frecuencia en los procesos batch.
Por su estructura general, SFC proporciona un medio de comunicacin o
entendimiento entre personas con diferentes especialidades.
Pgina 4 de 4
Lenguajes de Programacin
Dentro del estndar se definen 4 lenguajes de programacin. Esto es, se definen
su sintaxis y semntica. Una ves que usted los aprendi, puede aplicarlos a una
gran cantidad de sistemas que estn basados en estos estndares.
Los lenguajes son 2 de tipo textual y 2 de tipo grafico:
Textuales:
x Lista de Instrucciones (Instruction List IL)
x Texto estructurado (Structured Tex ST)
Grficos
x Diagrama de Escalera (Ladder Diagram LD)
x Diagrama de Bloques de Funciones (Function Block Diagram FBD)
Instruction List - IL
LD
Structured Text - ST
ANDN B
ST
C = A AND NOT B
Function Block Diagram - FBD
Ladder Diagram - LD
AND
A
A
B
C
----| |------|/ |----------( )
En la figura, los cuatro lenguajes describen la misma parte simple de un

programa.
La eleccin del lenguaje de programacin depende de:
x La formacin y experiencia del programador.
x El problema que se atiende (la aplicacin particular).
x El nivel de descripcin del problema.
x La estructura del Sistema de Control.
x La Interface con otras personas o departamentos.
Pgina 5 de 5

Todos los 4 lenguajes estn interrelacionados. Forman un conjunto comn
relacionado con la experiencia existente. De esta manera, tambin proporcionan
una forma de comunicacin a personas con diferente especialidad.
El Diagrama de escalera (LD) tiene sus races en USA. Esta basado en la
representacin grafica de la lgica de relevadores.
La Lista de Instrucciones (IL) Es tiene su origen en Europa y se asemeja a los
programas en ensamblador.
El Diagrama de Bloques de Funcin (FBD) es comn en la industria de proceso
y representa el comportamiento del programa mediante un conjunto de bloques
de funciones a la manera de los diagramas de circuitos de electrnica. Esto es:
miran al sistema en trminos de flujo de seales entre elementos de
procesamiento.
El Texto estructurado (ST), es un lenguaje poderoso de alto nivel, con sus races
en Ada, Pascal y C. Contiene todos los elementos esenciales de un lenguaje de
programacin moderno, incluyendo seleccin del flujo de ejecucin (IF-THENELSE y CASE OF) y lazos de iteracin (FOR, WHILE y REPEAT), que pueden
ser anidados. Este lenguaje resulta excelente para la definicin de bloques de
funcin complejos que pueden ser usados en cualquiera de los otros lenguajes.
Desarrollo Hacia Abajo o Hacia Arriba.

El estndar permite dos maneras de desarrollar su programa, ya sea partiendo
de una visin general para luego resolver los detalles (hacia abajo) o iniciando
por la parte de detalles especficos (iniciando desde abajo hacia arriba) por
ejemplo mediante bloques de funcin y bloques de funcin derivados.
El ambiente de desarrollo le ayudara durante el proceso completo.
Implementaciones
Los requerimientos completos del IEC 61131-3 no son fcilmente llenados. Por
esa razn el estndar permite implementaciones parciales en varios aspectos.
Tales como el numero de lenguajes soportados, funciones y bloques de funcin.
Esto proporciona libertad del lado del suministrador, pero el usuario (cliente)
debe estar prevenido al respecto durante su proceso de seleccin.
Muchos ambientes de desarrollo de programacin IEC ofrecen lo que usted
puede esperar de un ambiente moderno: Operacin mediante Mouse, mens
descolgables, pantallas graficas, soporte de mltiples ventanas, funciones de
hipertexto, verificacin durante el diseo. Tenga previsto que esto no es
Pgina 6 de 6

especificado dentro del estndar en si mismo y es una de las cosas en que
diferentes suministradores pueden diferenciarse.
Conclusin
Las implicaciones tcnicas del estndar IEC 61131-3 son altas, pero dejan
espacio suficiente para el crecimiento y la diferenciacin entre proveedores,
hacindolo aplicable tanto al corto como al largo plazo.
El IEC 61131-3 tendr un gran impacto en toda la industria de control.
Ciertamente no se restringe al mercado tradicional de los PLCs. Tambin se ha
adoptado en el mercado de control de movimiento, Sistemas distribuidos y
Softlogic basados en PCs. Incluyendo paquetes SCADA y continua en aumento.
Algunos de los beneficios de adoptar este estndar son:
x Disminuir el desperdicio de recursos humanos en entrenamiento, solucin
de errores y mantenimiento.
x Favorecer el enfoque a la solucin del problema mediante un alto nivel de
rehso del software.
x Reduciendo los malentendidos y errores.
x Tcnicas de programacin de enfoque amplio para la generalidad del
control industrial.
x Permitiendo la combinacin de diferentes componentes de diferentes
programas, proyectos, localidades compaas y pases.
Pgina 7 de 7

Iec61131 en Abb

Transféré par

Informations du document

Copyright

Formats disponibles

Partager ce document

Partager ou intégrer le document

Options de partage

Avez-vous trouvé ce document utile ?

Ce contenu est-il inapproprié ?

Droits d'auteur :

Formats disponibles

Iec61131 en Abb

Transféré par

Droits d'auteur :

Formats disponibles

Programming Manual

Logix5000 Controllers IEC 61131-3 Compliance

Important User Information

The following controllers are no longer supported in the Logix Designer

ControlLogix 5561 Controller

ControlLogix 5561S Controller

ControlLogix 5562 Controller

ControlLogix 5562S Controller

ControlLogix 5563 Controller

ControlLogix 5563S Controller

ControlLogix 5564 Controller

ControlLogix 5565 Controller

CompactLogix 5343 Controller

CompactLogix 5343S Controller

CompactLogix 5345 Controller

CompactLogix 5345S Controller

CompactLogix 5323E-QB1 Controller

CompactLogix 5323E-QBFC1 Controller

CompactLogix 5323-QBFC1 Controller

CompactLogix 5331 Controller

CompactLogix 5332C Controller

CompactLogix 5332E Controller

CompactLogix 5335CR Controller

CompactLogix 5335E Controller

Rockwell Automation Publication 1756-PM018C-EN-P - November 2012

Rockwell Automation Publication 1756-PM018C-EN-P - November 2012

Studio 5000 Engineering and Design Environment and

Rockwell Automation Publication 1756-PM018C-EN-P - November 2012

Rockwell Automation Publication 1756-PM018C-EN-P - November 2012

Studio 5000 Engineering and

The Studio 5000 Engineering and Design Environment combines engineering

The Studio 5000 environment is the foundation for the future of

This manual explains the series of specifications developed by the International

Rockwell Automation Publication 1756-PM018C-EN-P - November 2012

Rockwell Automation Publication 1756-PM018C-EN-P - November 2012

The International Electrotechnical Commission (IEC) has developed a series of

Rockwell Automation Publication 1756-PM018C-EN-P - November 2012

The preemptive, multitasking operating system (OS) of Logix5000 controllers

The IEC61131-3 specification provides access to memory through the creation

Rockwell Automation Publication 1756-PM018C-EN-P - November 2012

The IEC61131-3 specification defines five (5) different programming languages

The instruction set specified by IEC61131-3 is entirely optional. The

Rockwell Automation Publication 1756-PM018C-EN-P - November 2012

IEC61131-3 Program Portability

One of the goals of end-users creating programs in an IEC61131-3 compliant

Rockwell Automation Publication 1756-PM018C-EN-P - November 2012

IEC Compliance Tables

Extensions and Implementation Notes:

Lower case letters

Number sign (#)

Used for immediate value data type designation

Dollar sign ($)

Used for description and string control character

Identifiers using upper case and numbers

Task, program, routine, structure and tag names

Identifiers using upper case, numbers, and embedded

Task, program, routine, structure and tag names

Identifiers using upper and lower case, numbers and

Task, program, routine, structure and tag names

ST Comments, also support /* Comment */, and // End of line

Real literal with exponents

Boolean zero and one

Empty String ''

Descriptions, and String Editor