Introductionto

IEC11313LadderDiagram
 Origins of Ladder Diagram
The Ladder Diagram (LD) programming
language originated from the graphical
representation used to design an electrical
control system
Control decisions were made using relays
After a while Relays were replaced by logic
circuits
Logic gates used to make control decisions OR
AND
Finally CPUs were added to take over the
function of the logic circuits
I/O Devices wired to buffer transistors
Control decisions accomplished through
programming
Relay Logic representation (or LD) was CPU
developed to make program creation and
maintenance easier
Computer based graphical representation of
wiring diagrams that was easy to understand
Reduced training and support cost
 What is a Rung?
A rung of ladder diagram code can contain both input and
output instructions
Input instructions perform a comparison or test and set the rung
state based on the outcome
Normally left justified on the rung
Output instructions examine the rung state and execute some
operation or function
In some cases output instructions can set the rung state
Normally right justified on the rung

Input Instruction Output Instruction

 Series Vs Parallel Operations
Ladder Diagram input instructions perform logical AND
and OR operations in and easy to understand format
If all Input Instructions in series must all be true for outputs to
execute (AND)
If any input instruction in parallel is true, the outputs will execute
(OR)
Paralleling outputs allows multiple operations to occur
based on the same input criteria
A C D E

B AND F

Branches
OR
IF ((A OR B) AND (NOT C) AND D) THEN E=1; F=1 END_IF
 Ladder Logic Execution
Rungs of Ladder diagram are solved from Left to
right and top to bottom
Branches within rungs are solved top left to bottom
right
Ladder Rung

A D E
Left Power Rail Right Power Rail
B
Branch
F G H
P S
I J K
R
 Non Retentive Coils
The referenced bit is reset when processor power is cycled
Coil -( )-
Sets a bit when the rung is true(1) and resets the bit when the rung is
false (0)
PLC5 calls this an OTE Output Enable
Negative coil -( / )-
Sets a bit when the rung is false(0) and resets the bit when the rung is
True(1)
Not commonly supported because of potential for confusion
Set (Latch) coil -(S)-
Sets a bit (1) when the rung is true and does nothing when the rung is
false
Reset (Unlatch) Coil -(R)-
Resets a bit (0) when the rung is true and does nothing when the rung is
false
 Contacts
Normally Open Contact -| |-
Enables the rung to the right of the instruction if the rung to the left
is enabled and underlining bit is set (1)
Normally Closed Contact -|/|-
Enables the rung to the right of the instruction if the rung to the left
is enabled and underlining bit is reset (0)
Positive transition contact -|P|-
Enables the right side of the rung for one scan when the rung on
left side of the instruction is true
Allen Bradley PLC5 uses -[ONS]-
Negative transition contact -|N|-
Enables the right side of the rung for one scan when the rung on
left side of the instruction is false
 Retentive Vs Non-retentive Operation
Definitions
Retentive values or instructions maintain their last state
during a power cycle
Non-retentive values or instructions are reset to some
default state (usually 0) after a power cycle
IEC1131 permits values to be defined as retentive
A contradiction to this is ladder diagram where 3
instructions are classified as retentive
In most PLCs only timer and coil instructions operate
as non-retentive
 Retentive Coils
The referenced bit is unchanged when processor
power is cycled
Retentive coil -(M)-
Sets a bit when the rung is true(1) and resets the bit when the
rung is false (0)
Set Retentive (Latch) coil -(SM)-
Sets a bit (1) when the rung is true and does nothing when the
rung is false
PLC5 uses OTL Output Latch
Reset Retentive (Unlatch) Coil -(RM)-
Resets a bit (0) when the rung is true and does nothing when
the rung is false
PLC5 uses OUT Output Unlatch
 Transition Sensing Coils
Positive transition-sensing coil -(P)-
Sets the bit bit (1) when rung to the left of the
instruction transitions from off(0) to on(1)
The bit is left in this state
PLC5 use OSR (One Shot Rising)
Negative transition-sensing coil -(N)-
Resets the bit (0) when rung to the left of the
instruction transitions from on(1) to off(0)
The bit is left in this state
PLC5 uses OSF (One Shot Falling)
IEC Comparison Instructions in Ladder
If the rung input (EN) is enabled, the instruction performs
the operation and sets the rung output (ENO) based on
the comparison
Example: when EN is true, EQ (=) function compares In1 and to
In2 and sets ENO
Comprehensive instruction set
EQ(=), GT (>), GE (>=), LT (<), LE (<=), NE (<>)

EQ
EN ENO
Tank1_Level
100.000 IN1

Tank_max
IN2
78.251
 Timers in Ladder Diagram
There three timer instructions in
Pump_Tmr
IEC1131
TP - Pulse timer TON
IN Q
TON - Timer On Delay
TOF - Timer Off Delay T#200ms PT ET 178
Time values
Time base is 1msec (1/1000 of a
sec)
Pump_Tmr
Values entered using duration literal
format TON
IN ENO
Two possible visualizations
Depending on use of EN/ENO Q
Pump_Tmr_DN

1st method requires extra

programming if timer done status T#200ms PT ET 178
needs to be referenced on other
rungs
2nd method sets a bit with Q which
can be referenced by other logic,
ENO=EN
 Timer Operation
IN = Rung input condition Pulse (TP) Timing

Q = Comparison output IN
results Q
PT
Varies with timer types ET |
0
PT = Preset Time
ET = Elapse Time On-Delay (TON) Timing
IN
Q
PT
ET |
0

Off-Delay (TOF) Timing

IN
Q
PT
ET |
0
 Counters in Ladder Diagram
There three counter instructions in Load_Cnt
IEC1131 CTU
CTU - Count Up Counter IN ENO

CTD - Count Down Counter Load_Cnt_DN

R Q
CTUD - Count Up/Down Counter
All three count rung transitions 200 PV CV 178

Two possible visualizations

Depending on use of EN/ENO
Load_Cnt
1st method requires extra
programming if timer done status CTU
IN Q
needs to be referenced on other
rungs
R
2nd method sets a bit with Q which
can be referenced by other logic, 200 PV CV 178
ENO=EN
 Counter Operation
Parameters
Count Up (CTU) Counter
CU/CD = Count up/Down
IN ... ...
Q/QU/QD = Comparison Output
Q
R = Reset to Zero PV
LD = Load CV with PV CV |
0
PV = Preset Value R
CV = Count Value

Count Down (CTD) Counter

Count Up/Down (CTUD) Counter IN ... ...
CU
... Q
QU PV

CD
... CV |
0

QD LD
PV
CV|
0
R
LD
 Execution Control Elements
CALL / RETURN Instructions
Jump / Label Instructions Used to encapsulate logic and call it as a subroutine

Jump to a label skips a block of Causes execution to change between functions or subroutines
CAL - Passes control to another named function
code without it being scanned PLC5 uses JSR
RET - Exits a function and returns control back to the calling
LBL - Named target for a jump routine

operation
JMP - Performs a jump when
the rung conditions are true

|Skip_Calc|
|||(JMP)|
|...|
|Skip_Calc|
|[LBL]...

CAL
CAL

RET RET
 Different Instruction Presentations
The look and feel of IEC 1131-3 is somewhat different from
the 1Million+ PLCs that Allen Bradley has running in
factories throughout the world
TON (EN)
ADD Pump_Tmr
Timer
Source A Tank1_In
100.000 Preset 200.000 (DN)
Source B Offsetr
Accum 178.251
78.251
Destination Tank_Level
178.251 Pump_Tmr

TON
+ IN ENO
EN ENO
Tank1_In Tank_Level Pump_Tmr_DN
100.000 178.251 Q

Offsetr
T#200ms PT ET 178
78.251

IEC places the input parameters on the outside of the

instruction block vs the PLC5 where they are presented
inside of the block
Extending the IEC1131-3 Instruction Set
IEC1131-3 Provides a very basic set of instructions to do simple operations (81
Ladder Diagram Instructions)
Data Type Conversion - Trunc, Int_to_Sint, Dint_to_Real, Bcd_To_Int
Boolean Operations - Bit Test, Bit Set, One Shot, Semaphores
Timers / Counters - Ton, Tp, Ctu, Ctd, Ctud
Simple Math - Add, Sub, Mul, Div, Mod, Move, Expt
Misc. Math - Abs, Sqrt, Ln, Log, Exp, Sin, Cos, Tan, Asin, Acos, Atan
Bit Shift - Shl, Shr, Ror, Rol
Logic - And, Or, Xor, Not
Selection - Sel, Max, Min, Limit, Mux
Compare - GT, GE, EQ, LE, LT, NE
String - Len, Left, Right, Mid, Concat, Insert, Delete, Replace, Find
Control - JMP, LBL, JSR, RET
All complex operations are left to the user or vendor to define
File Operations, PID, Diagnostic, For/Nxt Loop, Search, Sort are not in IEC1131-3
Extensions to the instruction set are permitted so that vendors can add instructions that
their customers need
All vendors have defined their own set of extensions
Rockwell Automation controllers have significantly more capability
with over 130 Ladder Instructions
 Extensions to IEC provide code
optimization and ease of use
IEC1131-3 Load FIFO Logic

Rockwell Automation FIFO Load Instruction

1 Rung of Logic
1 Instruction
11 Rungs of Logic Minutes to code and debug
17 Instructions
Hours to code and debug
 Rockwell Automation
Instruction Extension to IEC1131-3
FIFO & LIFO - FFL, FFU, LFL, LFU
File math and search - FAL, FSC
Table operations - SRT, STD, AVE
Sequencers - SQI, SQL, SQO, SDS
Diagnostics - DDT, DFA, FBC
Compare - CMP, MEQ
Compute - CPT, NEG
Data moves - MVM, COP, BTD
Program Control - AFI, NOP, MCR, TND
Interrupt Services - UID, UIE
Retentive Timer - RTO
Ladder Loop Instruction - FOR, NXT
Process - PID
Motion - 30+ instructions to perform closed loop servo control