SFC ST Presentation

May 23, 2002 Copyright 2002 Rockwell
Automation Inc., All Rights Reserved

1
RSLogix 5000
Sequential Function Chart (SFC)
& Structured Text (ST)
Languages
This presentation presents the
SFC & ST implementation for the
Logix5000 processor.
Copyright 2002 Rockwell Automation Inc., All Rights Reserved
May 23, 2002 Copyright 2002 Rockwell Automation Inc., All Rights Reserved 2
Sequential Function Chart (SFC) Language
Available as an add-on option for RSLogix 5000 Standard or mini, and
included with RSLogix 5000 Full and Professional
Graphical Free-form drawing / programming environment
Place steps, transitional, simultaneous and select branches and draw connections
to determine execution flow
Position and Organize blocks based on application to improve readability
Floating or linked text boxes provide application documentation (Stored off-line)
Embed Structured Text in transitions and actions directly
Improves readability and maintenance
Eliminates extraneous routines
Use ST to call routines in FBD, LD,
SFC or ST when needed
Off-line editing with on-line monitoring
Display Auto-scroll keeps active step
In the view to simply maintenance
Works with Logix5000 engine to
support upload/download of SFC
routines from processor
On-Line editing planned (V13)
IEC1131-3 Compliant language
Applications for Sequential Function Chart
Sequencing of a machines states
High level program / routine execution management
More flexible approach to developing sequencers
Highly visual language is easy to understand
Ideal for machines with repetitive operations
Execution of batch process applications
Provide a foundation for motion or robotic applications using the
Graphical Motion Language (GML)
Embedded Structured Text Motion commands provide streamlined
development environment
RSLogix 5000 SFC Editor
SFC
Element
Toolbar
SFC
Language
Editor
SFC
Routine
Embedded
Structured
Text Action
Embedded
Structured Text
Transitional
Step
Description
Monitor Tag
of on-line
operation
Automatic
Name
Generation
Specific names
with backing
structure tag
Quick Access
Property Dialogs
SFC
Editor / Routine
Overview
SFC Show/Hide
Grid and
Page Lines
SFC
Runtime
Autoscroll
SFC Graphical Drawing Environment
Unlimited drawing space provides free form editing style
Personalized place SFC elements permits chart organization to more closely
follow application or physical machine
Streamlines development and simplifies maintenance
Scale window to increase/decrease view size
Simplifies navigation and permits ability to monitor chart execution more readily
Spreadsheet style grid structure
improves navigation (A1, B2, C3..)
Used by cross-reference to
provide quick navigation
Dashed lines show SFC element
placement within grid (can be
hidden if desired)
Report page boundaries displayed
as solid lines within chart
Helps organize your chart based
on the report outputs
SFC Elements are automatic
aligned to an invisible internal
grid to provide clean routine
appearance

Dashed
Cross-reference
Grid
Solid
Report Page
Boundary
Routine Overview Navigation
Routine overview button in editor provides birds-eye-
view of full SFC routine
All SFC elements scaled to fit a reduced size window above editor
Provides indication of viewable area and permits movement
Lets you know your the area of the chart you are viewing and
simplifies navigation within large routines

Box to indicate
area in view
Move cursor to
Different part
of chart to
change view
SFC Element Entry
Multiple methods available for SFC element entry
Pick the approach that best meets your needs
Context sensitive element toolbar provides two methods
of programming
Click to insert drops
element at current
chart position
Drag & Drop - to manually
position element in chart
Element browser provides
keyboard navigation
Just press [Insert] key

SFC Language Elements
SBR/RET Passes input / output
parameters to/from a chart
Initial Step The start position for the chart
execution
Step Position within a chart that defines
an operating state
Action Portion of a step that defines a
specific behavior
Transitional Decision point to determine
when a steps operation is completed
Stop Termination position for a path
within a chart
Simultaneous Branch defines dual
execution paths in a chart that are both
executed at the same time
Select Branch defines dual execution
paths in a chart where only one path is
executed
Simultaneous
Branch
Select
Branch
Stop
Element
Initial
Step
Action
Transitional
SBR/RET
Parameters
Intelligent SFC Connection Routing
Multiple ways to make SFC element connections
Manually wire the elements together (connect the dots)
Auto-connect by placing a new element adjacent to an existing element
Select the best method for your style of programming
Select and Simultaneous branches are determined automatically by
the environment based on where the connections are made
Saves you time when developing the chart
You can add them manually
if you prefer
Auto routing of element connections
All wires run vertically and
horizontally with right angles
visual display of valid
connection points
Sticky wires stay connected
when elements are moved
SFC Element Property / Data Tags
Each of the SFC Element utilize a tag
containing operational information for the
block
Used to assign a name to each element (40
Character)
Pre-defined SFC data-types provide specific
names for element data
Steps SFC_STEP structure
Actions SFC_ACTION Structure
Transitional BOOL
Stop SFC_STOP structure
Contain operational, status and diagnostic
values
Operational Execution Timer, Executing
State, First Scan, Last Scan
Status / Diagnostics Execution Count, Over-
run / Under-run alarms...
Simplifies access to element information,
reduces training and maintenance effort
Built-in property displays simplify
configuration and display operating status
Automatic SFC Tag Management
The software optionally does an automatic name generation for steps,
transitions and actions
User-specified prefix for step, transition, action, and stop names
Option to include SFC routine name in prefix
Automatic numbering of elements
Reduces typing to improve development time
If you want more control software can Prompt for Tag Name when element is
added to SFC chart
Avoids extra step to
create and name tags
Provides more effective
development workflow
Option to automatically
delete tag when element is
removed from chart
Eliminates program
modification steps
Avoids orphaned tags
being left in program
Unlimited number of steps in an SFC routine
Step uses a tag as a control structure
40 Character name for each step, automatically generated
Structure contains step configuration and status attributes
Step attributes are accessible from logic
Choice of accessibility / isolation
Created at program scope by default
Ex: StartupLine1.PRE
Tag description provides in-line documentation
Can be modified in SFC Editor,
tag editor and CSV Import/Export
Display of description can be
optionally disabled
Configurable step timer monitors
step execution
Step timer preset can be a fixed value
or an expression evaluated at run time
Tag or complex calculation
Step
Name
View Step
Attributes
View/Hide
Actions
Backing Tag
Comment
Edit
State
Connection
Points
Step Elements
Step Attributes and Built in Diagnostics
Structured step tag provide specific names for step configuration and properties
Includes all IEC61131-3 defined attributes and Logix5000 extensions
Directly accessible via an MMI using names stored in the controller
Built in step diagnostics capabilities eliminates application code commonly added
to most SFC programs
Step execution time alarms - User configurable presets or expressions for step
underrun (AlarmLow) and overrun (AlarmHigh)
Execution count tracks number of times Step is activated - provides immediate
feedback on process execution

Datatype SFC_STEP
Status : DINT; Status Field containing X,FS,SA...AlarmHi
X : BOOL; Step executing bit (FS + SA + LS)
FS : BOOL; First scan bit
SA : BOOL; Step Active bit (Not FS or LS)
LS : BOOL; Last scan bit
DN : BOOL; Step Timer done, T=PRE
OV : BOOL; Step timer overflow DINT Maximum
AlarmEn: BOOL; Enables Hi/Low Alarming
AlarmLow : BOOL; Low Step Time Alarm Fault
AlarmHi : BOOL; High Step Time Alarm Fault
PRE : DINT; Step timer preset, sets DN when T=PRE
T : DINT; Length of time step has executed
TMax : DINT; Maximum Step Time value detected
Count : DINT; Number of times step activated
LimitLow : DINT; Low Alarm Step Time
LimitHi : DINT; High Alarm Step Time
End_Datatype;
Alarms
Step
Timer
Execution
Count
Step State
Bits
In-line
Expressions
Display
Options
Initial
Step
Initial Step Property
This step property allows you to specify the location in the chart you
want to being the execution after a restart
Visualized with double border to help locate within chart
Operates based on restart configuration
One initial step per chart or routine
Can be anywhere in the chart
Same configuration as a normal step
Provides flexibility when setting a
chart so that you can organize the
routine around the application
Does not force the execution
to begin at the top

Initial
Step
Unlimited number of actions per step
Three types of actions:
Boolean actions are true when the action
is active otherwise false
Action can be reused by multiple steps
using action tag reference
State of action is logical OR of all references
Reference routines in other languages
LD, FBD, ST, SFC
Embedded Structured Text
Eliminates need to create separate
routines and improves readability
Requires ST Language option
Action uses a tag as a control structure
Provides a 40 character name for each action,
automatically generated
Structure contains action configuration and status attributes
Action attributes are accessible from logic
Ex: Action_001.PRE
Indicator tag provides diagnostic monitoring while running
Step Actions
Action
Qualifier
Action
Name
View Action
Attributes
Indicator
Tag
Embedded
Structured
Text Code
Show/Hide
Actions
Multiple
Actions
per Step
Edit
State
Action Attributes and Built in Diagnostics
Structured Action tag provide specific names for action configuration and properties
Includes IEC61131-3 defined attributes and Logix5000 extensions
Directly accessible via an MMI using names stored in the controller
Built in Action execution count tracks number of times action is activated - provides
immediate feedback on process execution
eliminates application code commonly added to most SFC programs
Provides option to include an indicator tag displayed on the action
Select any tag available in the local program or controller scope areas
Provide run-time data-value updates to assist in debug an maintenance
Configurable Execution Order
Permits easy access to Action execution order
Simplifies addition of new actions or reworking
scan after development is completed

Datatype SFC_ACTION
Status : DINT; Status field containing A and Q
A : BOOL; Action is executing
Q : BOOL; Active except for last scan, P0 or P1
T : DINT; Time accumulated based on action qualifier
PRE : DINT; Time qualifier preset
Count : DINT; Number of times action activated
End_Datatype;

Action Qualifiers
Action qualifiers determine how an action should execute
Following IEC 1131-3 definitions
None (no qualifier defaults to Non-Stored)
N - Non-Stored (action is active when step is active)
S - Stored (Starts running when step active, continues running even after step goes inactive)
R - Overriding Reset (stops a stored action)
L - Time Limited (starts running when step active, stops when step goes inactive or time
expires)
D - Time Delayed (waits a period of time after step active and executes if step is still active)
P1- Rising Edge Pulse (runs once on step activation)
P0 - Falling Edge Pulse (runs once on step deactivation)
P - Pulse (runs once on step activation and again on deactivation P1+P0)
SL - Stored and Time limited (starts running when step active, stops when time expires)
SD - Stored and Time Delayed (waits a period of time after step active runs regardless of
step state and continues running even after step goes inactive)
DS - Delayed and Stored (waits a period of time after step active, if step is still active, it runs
continuously even after step goes inactive)
Time based action qualifiers
Qualifier preset can be a fixed value
An expression evaluated at run time
Tag or complex calculation
Action Qualifier Timing
Step / Action Preset Expression Builder
Built in expression editor simplifies creation of embedded structured text
expressions for step timer preset value
Quick access to create tags, browser tags, function and operator selection lists
Permits step timer preset to be determined during step operation
Provides more control over step execution with minimal effort
Reduces need for external code to calculate and set the timer preset value
Unlimited number of transitions in an SFC routine
Two types of transitions
Reference another routine in any ControlLogix language
Embedded Structured Text
Eliminates need to create separate routines
Can use to set always true / false condition
Transition uses a tag for state data
Tag value accessible from logic
Defined as a BOOL datatype
Provides a 40 character name for each
transition, automatically generated
Tag description provides in-line documentation
Can be modified in SFC Editor, tag editor and
CSV Import/Export
Display of description can be optionally disabled
Transition forcing overrides program logic
Similar to I/O forcing
Force multiple transitions to true / false
Enable / disable all transition forces at once
Transition Elements
Transition
Name
Connection
Points
Embedded
Condition
Logic
Transition
Force State
View
Transition
Attributes
Transition Forcing & Step Through Provide Chart Debug Capabilities
Transition Forcing permits each transition to be forced true / false
True Chart executes the step prior to the transition once then moves to next step
False Chart scan holds on step prior to transition
Enabled either with I/O or independently to provide more control over force
operations
Transition Step Through option is a one shot true force of a transition
Moves chart to next step one time
Provides ability to manually override SFC execution
Monitor and debug directly from the interface
Simplifies equipment startup process
Forced
Transition
On-Line toolbar
Presents Force Status
For Both I/O & SFC
Logic Menu
Provides Control
for Both I/O & SFC
Enable both
I/O and SFC Forces
together from toolbar
Force
Options
Stop Element
The Stop Element terminates execution of a path in the SFC chart
Located at the end of the chart or on a branch leg
If there are no other steps to execute, control reverts to the predefined
initial step
Eliminates need to provide directed link looped back to initial step
Unlimited number of stop elements
Utilizes a tag to name the element, provide a comment in the chart
and store diagnostic information
Activated Bit is set when Stop Element is executed
Built in step execution count tracks number of times the stop is activated -
provides immediate feedback on process execution
Extension over IEC61131

Datatype SFC_STOP
Status : DINT; Status field containing X
X : BOOL; Activated
Count : DINT; Number of times Stop activated
End_Datatype

SBR / RET Element
Subroutine Input / Return element provides a means of passing parameters
in/out of a SFC based subroutine
SBR Specifies tag(s) to store input parameters for use in the routine
RET Specifies tag(s) you want to return as output parameters
Unlimited number of parameters
Both atomic and compound data types supported
Passed by value
Permits SFC Routines to be called from other routines within a program
Call from LD, FBD, STX and even another SFC
Provides program development flexibility and supports modular programming
methods
... SBR
Subrouti ne
MCR
RET
Return
Status
Simultaneous Branches
Executes multiple chart paths at once
Permits multiple steps to be active at
one time
Unlimited number of branch legs, elements
per leg and nested branches
Flexible branch layout works they
way you want it to work!
permits configuration to closely
resemble process
Avoids useless steps placeholders
Brach leg forcing enhances chart
debug and maintenance
Permits each branch to be disabled
individually
Displayed in chart both off and on-line

Branch
Force
Right Click
to Force
Flexible
Branching
Flexible
Branching
Select Branches
Executes one of many chart paths
Permits process based decisions to alter
the execution flow
Unlimited number of branch legs,
elements per leg and nested branches
Flexible branch layout works
they way you want it to work!
permits configuration to
closely resemble process
Avoids useless steps placeholders
Configurable evaluation order
Defaults evaluation from Left to right
User defined evaluation order permits
you to determine branch priority
Permits changing order without
reorganizing chart
Transition forcing and step through
provides select branch debug override
Flexible
Branching
Flexible
Branching
Execution
order
Forced
Transition
Right Click
to Set Order
Default
Left to Right
User
Configured
Directed Link
Directed link permits you to shift the chart execution forward or
backward to another step
Optional link visualization setting
Wired to the destination step (default)
Hidden wire with source / destination references to reduce wire / chart
congestion
Gives you control over how the link is displayed in the chart
Destination
reference
Source
reference
Visible
Wire
Right Click
to Hide
Grid
location
Documenting Your SFC Routine
Routine Description Tag Comments Text Box Embedded ST
Visibility Routine property dialog
and routine tool-tip
Tag editor and data
monitor, optionally
show/hide in SFC chart
SFC chart Only SFC chart Action and
Transition expressions
Modification Routine Property
Dialog
Step/ Transition property
dialog, and Tag Editor
SFC chart editor SFC charts embedded
ST editor
Size 120 Characters 120 Characters 64K Characters Unlimited
Stored Off-line Off-line Off-line Off-line & On-line
Import / Export L5K File CSV and L5K Files L5K File L5K File
Element
Linkage
N/A Moves with SFC element Free-floating or
anchored to element
Moves with embedded
ST code in SFC Element
Embedded ST
Action Comment
(Stored Online)
Text Box Anchored
to Transition
Text Box Anchored
to Step
Text Box
Free Floating
Step Tag
Description
Transition Tag
Description
Embedded ST
Transition Comment
(Stored Online)
SFC Reports
Both Fit to page report and multi-page
formats
Single page table of contents
Enlarged view of chart sections
Report Page boundaries displayed in
editor view
Configurable page settings
Supports Letter (8.5x11), Legal
(8.5x14), Tabloid (11,17), A4
(210x297mm), and A3 (297x420mm)
Portrait or Landscape
What you see is what you get!
Simplifies development
Cross-reference grid and page
numbers printed on report
Speeds up chart negotiation
Links to cross reference reports
Additional element and cross-
reference reports provide
configuration detail
Cross-Reference
Provides a listing of any reference to a tag
Destructive and Non-destructive
Direct and alias references
Location where tag is accessed
LD Rung/Instruction
SFC Element Grid Location
FBD Block Grid Location
ST Line Number
Generate reports based on cross-reference
Search & Replace
What you can search for...
Text in tag names, comments or logic
Tags
Component Alias - Will find other tags that
share the same base tag as the specified tag
All Aliases - Will find other tags that can
reference any part of the specified tag
Language Elements (instructions)
Logix edits (I/R/D)
Maintains a list of the last 10 searches
to reduce effort reissue the same search
Where does search operate?
Language editors
Tag editor / Data monitor
Use search to locate individual
references or all references at once
Replace permits the selective replacement
of one string for another
New Instructions for SFC
Three new Ladder Diagram (LD) and Structured Text (STX)
instructions added to Logix5000 to control SFC Operations
SFR- Sequential Function Chart Reset
Resets a specific SFC chart to a specified step
Active steps are post scanned by processor
to reset outputs
SFP Sequential Function Chart Pause
Suspends the operation of the specified
chart as long is rung is true
EOT End of Transitional
Used within a subroutine called by a transitional
to indicate that a steps operation is complete
Execute these in a separate LD/ST subroutine
called by an Action of a step
Provides programmatic control over SFC execution
Develop code to determine machine state and automatically adjust to the
appropriate SFC step to facilitate machine startup and recovery
Provides consistency for applications developed in PLC-5
Configurable SFC Execution Options
Logix5000 provides different type of execution methods to help you
customize the chart control to meet specific needs
Provides more control over execution
Avoids the need to create and manage additional code
Execution model Determines when chart scan terminates
Execute only active step(s) per scan
Execute multiple steps in a single scan till false transition is found
Restart - Determines chart starting
location for processor run mode
transition
Initial step - restarts at the step
you have configured as Initial Step
last active restarts at the step
that was active when the chart
stopped
Configurable SFC Last Scan options
Logix provides multiple options to configure a controller to
selectively reset operations when an SFC step completes
Supports retentive and non-retentive operations
Provides for automatic and controlled shutdown
Gives you full control of step post-scan operations so that
your program operates using the most optimal method
Automatic Reset Programmatic Reset No Reset
Step
Post
Scan
Method
Automatically resets when SFC
Steps transition evaluates to true
CPU Resets outputs, timers and
various instructions
ST bit or numeric assignments
using [:=] are reset to 0
Performs an additional scan of
SFC Actions with LS bit set to true
Utilize Step.LS bit to
programmatically clear values
Or utilize a falling edge P0 Action
to perform programmatic reset
No more scans performed
utilize a falling edge P0 Action
to perform programmatic reset
Benefits
No additional programming
required to clear outputs
Works similar to PLCs SFC
Language
You have control over the reset
operation via the Step.LS bit
Permits reset of values other than
zero
Allows you to leave outputs
energized across multiple steps
Operates like programmatic but
avoids overhead of Last Scan
Permits reset of values other
than zero
Allows you to leave outputs
energized across multiple steps
SFC Off-line & On-line Support
Initially developed as an off-line development tool with on-line support
monitoring and debug support
Develop programs off-line
Download/upload programs to/from controller
Monitor programs on-line
Active step/branch animation
Auto-scroll to keep active step on display
Debug chart execution
Tag data and SFC element property changes
Transition Forcing and Step Through Control
Simultaneous Branch Forcing
Select Branch execution order
Future on-line programming support
Initially available for hardware based Logix5000 controllers
ControlLogix5500, FlexLogix5400, CompactLogix5300, and
DriveLogix5700
SoftLogix5800 support planned for future releases

Available as an add-on option for RSLogix 5000 Standard or mini, and included
with RSLogix 5000 Professional
Fully functional editor
Red Wavy Underlines annotate undefined tags or programming errors
Syntactic coloring monitoring for commands, tags and comments to improves readability
Instruction format tool-tips simplify code development
Cut/Copy/Paste from other text editor tools
High level programming language similar to Basic, Fortran, Pascal or C
If/Then, Case, Do/While, Do/Until,
and For/Next constructs
Most LD and FBD Instructions
supported, Including Motion and
Process
Call routines in FBD, LD, SFC or ST
when needed
Off-Line development with on-line
monitoring
Works with Logix5000 engine to
support upload/download of ST
Watch-Pane auto tag list, displays
operating tag values
On-Line edit planned (V13)
IEC1131-3 Compliant language

RSLogix 5000 ST Language
Applications for Structured Text
Easily represent complex mathematical
calculation
Development of specialized array / table
processing
Creation of ASCII String protocol
processing
Imbedded motion control functions
Inclusion of Process / Drive control
functions permits specialized algorithms
Provide a foundation for applications
using the Reliance Automax basic
language
Easily convert text based Basic, C,
Pascal and Fortran code to run on a
Logix5000 controller
ST Decision and Loop Constructs
IF and CASE operations determine execution
Build decisions to meet applications specific needs
Combined with symbolic tags to provide self documented code
FOR, WHILE and REPEAT process repetitive operations
Build custom looping algorithms
Easy way to process tables of information
Performs operation of Ladder file instructions like FAL
IF <Boolean expression> THEN
<statements>
ELSIF <Boolean expression> THEN
<statements>
ELSE
<statements>
END_IF;
CASE <any integer or real expression> OF
< selector value 1> : <statements>
< selector value 2> : <statements>

ELSE
< statements>
END_CASE;
FOR <initialize iteration variable>
TO <final value expression>
[BY <increment expression>] DO
<statements>
EXIT
END_FOR;
WHILE <Boolean expression> DO
<statements>
EXIT
END_WHILE;

REPEAT
<statements>
EXIT
UNTIL <Boolean expression>
END_REPEAT;
ST Instruction Set
Instruction set commonality with Ladder Diagram (LD) and Function Block
Diagram (FBD)
Reduces learning curve
Permits selection of appropriate Language for application
In line operations consistent with common text based programming
languages and IEC 61131-3
Assignment operators (retentive := , non-retentive [:=])
Mathematical operations (+,-,*,/,**, Mod)
Comparison operations (=, >=, <=,>,<,<>)
Logical operations (AND, &, OR, NOT, XOR)
Trig Functions
Automatic numeric datatype conversion reduces development time by
eliminating need for temporary tags and conversion functions
Supports calls to Logix5000s advanced built instruction set
Over 125+ instructions are at your disposal
Advanced Motion Instructions
FBD Process and Drive control blocks
JSR / SBR / RET functions for routine encapsulation
The Most Comprehensive built in Instruction set in the industry
Minimizes development and reduces program debug effort
ST Instruction Programming
Multiple ways to develop structured text code
to minimize program development time
Using a mouse and the
Integrated Instruction Toolbar
Keyboard Alt-Ins provides a
instruction selection dialog complete
with instruction descriptions
Simply type the function name to
receive formatting tool-tip
Provides instruction parameter
configuration
Select the method that best
meets your development needs
Pop-up tool tips for Instructions
and Functions simplify
code development
ST Text Syntactic Color Coding
Language statements, tag names, and comments
displayed in different colors
Makes code easier to read and understand
Simplifies code development
Determine quickly if
code will be executed
or is commented out
Red wavy underlines
denote invalid tags
Locate misspelled or
undefined tag names
Immediate feedback
on programming errors
ST Comments
Both in-line and multi-line comments supported
In-line comments provide a description for a single line of code
Beginning with // and terminate with a CRLF
Can also be used to block a single line of code from execution
Rockwell Automation extension to IEC61131-3
Multi-line comments provide more descriptive information for how the
code performs its function
Two formats available (* comment*) or /* comment */
Can also be used to block a group of code lines from executing
Green context coloring makes comments standout from code
All Structured Text comments are loaded into the controller during
application download
Available on upload even if you
dont have the original source
Maintains program white-space,
tabs, and line-feeds to
preserver presentation
Compressed from 70 to 80 %
to minimize memory needs
ST Tag Manipulation
Multiple ways to specify tags in your code
Using a mouse you can navigate
the context menu to the tag browse
tool to select tags
Using the keyboard, Ctrl-Space
provides a tag selection window
with auto-fill / tag lookup
list locates first tag with
matching name
Eliminates the need
to memorize tag names
Reduces program
development effort
ST On-Line Monitoring
ST Routine highlighted to show running status
Lets you know the processor is in run mode
Tooltips provide access to tag data values
Displays description, datatype and a snapshot of the data value
Preserves routine formatting and avoids having to scroll watch pane to
view a single tag
Watch Pane displays
all tags referenced
by the routine
Lists tags, value and
descriptions
Animated values
change as routine
executed
Useful for debug and
maintenance operations
Tag Info
tooltip
Tags referenced
In ST Routine
Data Values Data Values
ST Routine Execution
Each time a Structured Text routine is called (either as a subroutine or as the
main routine in a program) it begins executing from the beginning of the
routine (Similar to Ladder Diagram)
Code within the ST routine is executed based on the constructs used
Using IF and CASE you can selectively choose the code you want to execute
Focuses the execution on specific areas of the code
Helps reduces routine scan time to optimize CPU performance
Using FOR, DO UNTIL, and DO WHILE you can perform repetitive loops
Useful for processing arrays or tables
The CPU watchdog timer continues while ST executes, so infinite loops will be trapped
Structured Text Transitional Instructions
In Ladder Diagram a rung state change is used to trigger various operations within
instructions (timers, counters, one-shots, messaging, motion)
In ST these instructions are handled in one of two ways:
Counters, messaging and motion instructions acts as though the rung has just gone true
each time they are executed in ST
May require additional code to manage the instructions execution
For timers and one-shot instructions external manipulation is required to initialize and
reset
ST Pre-Scan Operation
On power-up the controller performs a pre-scan of each
task to initialize instructions (outputs, non-retentive
timers)
Select instructions also perform various operations during pre-
scan
Example: ONSR one-shot instruction turns off storage bit...
In ST you can use the bracketed assignment operator
[:=] to force the value to be reset during pre-scan
Resets Bit tags and forces numeric tags to zero
If you want tag left in last state, use the non-bracketed assignment
operator :=
Extension over IEC61131 standard
Minimizes the amount of code you need to write to
initialize your application
Provides more control over what you want retained or reset
Reduces development time
SFC Post Scan Impact on ST
SFC provides an automatic reset operation
Performs a post-scan of the actions associated with a Step once
the transition indicates the step is completed
Perform a controlled shutdown of the code
In ladder diagram routines, output coil (OTE) instructions are turned
off and non-retentive timers are reset...
The SFC Automatic reset is optional and can be overridden by
changing a controller property
ST code embedded in an SFC Steps action directly or ST code
called via a JSR are also post scanned
Depending on the application you can control what occurs during
post-scan
Using the bracketed assignment operator [:=] tags are reset to zero
(both Boolean and numeric tags)
Using non-bracketed assignment operator := tags are left in their
last state
The Automatic reset combined with the two ST
assignment operators simplify program initialization

ST Off-line & On-line Support
ST programming environment is initially targeted as an off-line
development tool with the ability to monitor running programs
Off-line programming
ST Programs both downloaded and uploaded (with comments)
Tag values in watch pane update with memory changes
Tooltip provides tag snapshot
Future on-line programming support
Initially available for hardware based Logix5000 controllers
ControlLogix5500, FlexLogix5400, CompactLogix5300, and
DriveLogix5700
SoftLogix5800 support planned for future release
RSLogix 5000 Multi Language Support
Fully integrated with other languages within RSLogix 5000
Exists as part of RSLogix 5000, uses existing database, menu structure,
controller organizer, I/O configuration, etc.
Available as an option to mini and standard versions and included with
Professional
LD, FBD, SFC, ST routines can co-exist with other routine types in the
same controller
A routine of any language can
call other SFC, ST, LD or FBD
routines
Works with Logix5000 engine
to support upload/download of
All languages are are native to
Logix5000
IEC1131-3 Compliant
languages

Acquiring SFC / ST
The SFC and ST Languages are available in two
forms
Add on option for RSLogix 5000 Mini Edition (9324-
RLD200ENE) and Standard Edition (9324-
RLD300ENE)
9324-RLDSFCE Sequential Function Chart Language Option
9324-RLDSTXE Structured Text Language Option
9324-RLDMLPE Multi-Language Pack Option (Includes FBD,
SFC, and STX)
Permits you to purchase just the language(s) you need
Included with RSLogix 5000 Full Edition (9324-
RLD600ENE) and Professional Edition 9324-
RLD700NXENE
All languages are included (LD, FBD, SFC, and ST)
Purchase all languages from a single catalog number
New RSLogix 5000 Full Edition
Complete version of RSLogix 5000
Will Support all Logix5000 Controllers
Provides all of the capabilities of the Standard Edition and
includes support for all optional programming languages
Function Block Diagram (FBD)
Sequential Function Chart (SFC)
Structured Text (STX)
RSNetWorx and RSLogix Emulate5000 are available separately
Targeted SIs and Large End Users needed multiple
languages and already own RSNetWorx
Existing users of Mini and Standard can get the same capabilities
as the Full Edition by purchasing the separate language options
RSLogix 5000 Packages / Options
RSLogix 5000 Enterprise
Series bundles / options
Mini Edition
9324-RLD200ENE
Standard Edition
9324-RLD300ENE
Standard/Network
9324-RLD300NXENE
Full Edition
9324-RLD600ENE
Professional Edition
9324-RLD700ENE
Logix5000 Controllers
Supported
CompactLogix530
0 FlexLogix5400
All All All All
Ladder Diagram

Included Included Included Included Included
Function Block Diagram
1, 2

9324-RLDFBDENE
Separate Option Separate Option Separate Option Included Included
Sequential Function Chart
1, 2

9324-RLDSFCE
Structured Text
1, 2

9324-RLDSTXE
PIDE Autoune
9323-ATUNEENE
Separate Option Separate Option Separate Option Separate Option Separate Option
RSLinx Lite Included Lite Included Lite Included Lite Included Pro Included
RSNetWorx CNet & Dnet
9357-ANETL3
Separate Option Separate Option Included Separate Option

Included
Drive Executive Lite
9303-4DTE01ENE
Separate Option Included Included Included Included
1756-MVI SW Dev Toolkit Separate Option Separate Option Separate Option Included Included
Functionality / Value Limited Maximum
1. Able to upload and download without option. Must purchase option to view, edit and print routines in this language
2. 9324-RLDMLPE Multi-Language pack includes FBD, SFC, and STX

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May 23, 2002 Copyright 2002 Rockwell

Automation Inc., All Rights Reserved

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