Introduction to

IEC1131-3 Ladder Diagram

 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)
– Values entered using duration literal
Pump_Tmr
format
TON
• Two possible visualizations IN ENO
Depending on use of EN/ENO
– 1st method requires extra Pump_Tmr_DN
Q
programming if timer done status
needs to be referenced on other T#200ms PT ET 178
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+ PLC’s that Allen Bradley has running in
factories throughout the world
TON (EN)
ADD Pump_Tmr
Source A Tank1_In Timer
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