Logix 5000 Controllers

Structured Text Programming

Manual
1756 ControlLogix, 1756 GuardLogix, 1769 CompactLogix, 1769
Compact GuardLogix, 1789 SoftLogix, 5069 CompactLogix, Emulate
5570

Programming Manual Original Instructions

Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure,
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The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation,
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WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or
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These labels may also be on or inside the equipment to provide specific precautions.

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Tip: Identifies information that is useful and can help to make a process easier to do or easier to understand.

Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in alignment with the movement toward inclusive
language in technology. We are proactively collaborating with industry peers to find alternatives to such terms and making changes to our products and content. Please excuse the
use of such terms in our content while we implement these changes.

2 Publication Number - 1756-PM007L-EN-P - September 2024 Rockwell Automation, Inc.

Summary of changes
This manual includes new and updated information. Use these reference tables to locate changed information.

Grammatical and editorial style changes are not included in this summary.

Global changes
None in this release.

New or enhanced features

This table identifies new and enhanced features in this release.

Change Topic
Corrected the examples in the CASE_OF statement section. CASE_OF on page 23

Rockwell Automation, Inc. Publication Number - 1756-PM007L-EN-P - September 2024 3

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Contents

Program Structured Text...........................................................................................................................................................................................................................................9

Structured Text Syntax................................................................................................................................................................................................................................................................................9

Structured Text Components: Assignments.................................................................................................................................................................................................................................10

Specify a non-retentive assignment...................................................................................................................................................................................................................................11

Assign an ASCII character to a string data member...................................................................................................................................................................................................... 12

Character string literals........................................................................................................................................................................................................................................................12

Structured Text Components: Expressions..................................................................................................................................................................................................................................14

Use arithmetic operators and functions...........................................................................................................................................................................................................................15

Use relational operators.......................................................................................................................................................................................................................................................16

Use logical operators............................................................................................................................................................................................................................................................ 17

Use bitwise operators...........................................................................................................................................................................................................................................................18

Determine the order of execution......................................................................................................................................................................................................................................19

Structured Text Components: Instructions..................................................................................................................................................................................................................................19

Structured Text Components: Constructs................................................................................................................................................................................................................................... 20

IF_THEN...............................................................................................................................................................................................................................................................................................21

CASE_OF............................................................................................................................................................................................................................................................................................. 23

FOR_DO...............................................................................................................................................................................................................................................................................................25

WHILE_DO.......................................................................................................................................................................................................................................................................................... 28

REPEAT_UNTIL.................................................................................................................................................................................................................................................................................. 30

Structured Text Components: Comments................................................................................................................................................................................................................................... 33

About code snippets..................................................................................................................................................................................................................................................................................34

Insert a code snippet..................................................................................................................................................................................................................................................................... 34

About outlining in Structured Text routines......................................................................................................................................................................................................................................... 34

Enable or disable automatic outlining........................................................................................................................................................................................................................................ 35

Expand and collapse code segments in the Structured Text editor..................................................................................................................................................................................... 35

Define a collapsible segment in a Structured Text routine.................................................................................................................................................................................................... 35

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Preface

This manual provides a programmer with details about the available General, Motion, Process, and Drives instruction set for a Logix-based controller.

If you design, program, or troubleshoot safety applications that use GuardLogix controllers, refer to the GuardLogix Safety Application Instruction Set Safety Reference Manual,
publication 1756-RM095.

This manual is one of a set of related manuals that show common procedures for programming and operating Logix 5000 controllers.

For a complete list of common procedures manuals, refer to the Logix 5000 Controllers Common Procedures Programming Manual, publication 1756-PM001.

The term Logix 5000 controller refers to any controller based on the Logix 5000 operating system. Rockwell Automation recognizes that some of the terms that are currently used
in our industry and in this publication are not in alignment with the movement toward inclusive language in technology. We are proactively collaborating with industry peers to find
alternatives to such terms and making changes to our products and content. Please excuse the use of such terms in our content while we implement these changes.

Studio 5000 environment

The Studio 5000 Automation Engineering & Design Environment® combines engineering and design elements into a common environment. The first element is the Studio 5000
Logix Designer® application. The Logix Designer application is the rebranding of RSLogix 5000® software and will continue to be the product to program Logix 5000™ controllers for
discrete, process, batch, motion, safety, and drive-based solutions.

The Studio 5000® environment is the foundation for the future of Rockwell Automation® engineering design tools and capabilities. The Studio 5000 environment is the one place for
design engineers to develop all elements of their control system.

Additional resources
These documents contain additional information concerning related Rockwell Automation products.

Resource Description
LOGIX 5000 Controllers Program Parameters Programming Manual publication 1756-PM021 Describes how to use program parameters when programming Logix 5000 controllers.
LOGIX 5000 Controllers General Instructions Reference Manual, publication 1756-RM003 Describes the available instructions for a Logix 5000 controller.
LOGIX 5000 Controllers Process and Drives Instructions Reference Manual, publication 1756-RM006 Describes how to program a Logix 5000 controller for process or drives applications.
LOGIX 5000 Controllers Motion Instruction Set Reference Manual, publication MOTION-RM002 Describes how to program a Logix 5000 controller for motion applications.
Product Certifications website, http://ab.rockwellautomation.com Provides declarations of conformity, certificates, and other certification details.

You can view or download publications at . To order paper copies of technical documentation, contact your local Rockwell Automation distributor or sales representative.

6 Publication Number - 1756-PM007L-EN-P - September 2024 Rockwell Automation, Inc.

Legal notices

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Software and Cloud Services Agreement

Review the Rockwell Automation Software and Cloud Services Agreement here.

Open Source Software Licenses

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You can view a full list of all open source software used in this product and their corresponding licenses by opening the index.html file located your product's OPENSOURCE folder on
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The default location of this file is:

C:\Program Files (x86)\Common Files\Rockwell\Help\Product Name\Release Notes\OPENSOURCE\index.htm

You may obtain Corresponding Source code for open source packages included in this product from their respective project web site(s). Alternatively, you may obtain complete
Corresponding Source code by contacting Rockwell Automation via the Contact form on the Rockwell Automation website: http://www.rockwellautomation.com/global/about-
us/contact/contact.page. Please include "Open Source" as part of the request text.

Rockwell Automation, Inc. Publication Number - 1756-PM007L-EN-P - September 2024 7

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 Chapter 1

Program Structured Text

Structured Text Syntax

Structured text is a textual programming language that uses statements to define what to execute.

• Structured text is not case sensitive.

• Use tabs and carriage returns (separate lines) to make your structured text easier to read. They have no
effect on the execution of the structured text.

Structured text is not case sensitive. Structured text can contain these components.

Term Definition Examples

Assignment Use an assignment statement to assign tag := expression;

values to tags. The := operator is the
assignment operator.
Terminate the assignment with a semi
colon ‘;.’

Expression An expression is part of a complete

assignment or construct statement.
An expression evaluates to a number
(numerical expression), a String (string
expression), or to a true or false state
(BOOL expression)

Tag Expression A named area of the memory where data value1

is stored (BOOL, SINT, INT, DINT, REAL,
String).

Immediate Expression A constant value 4

Operators Expression A symbol or mnemonic that specifies an tag1 + tag2

operation within an expression. tag1 >= value1

Function Expression When executed, a function yields one function(tag1)

value. Use parentheses to contain the
operand of a function.
Even though their syntax is similar,
functions differ from instructions in
that functions can be used only in
expressions. Instructions cannot be used
in expressions.

Instruction An instruction is a standalone statement. instruction();

An instruction uses parentheses to instruction(operand);
contain its operands. instruction(operand1,
Depending on the instruction, there can operand2,operand3);
be zero, one, or multiple operands.
When executed, an instruction yields one
or more values that are part of a data

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Chapter 1 Program Structured Text

structure. Terminate the instruction with

a semi colon(;).
Even though their syntax is similar,
instructions differ from functions in
that instructions cannot be used in
expressions. Functions can be used only
in expressions.

Construct A conditional statement used to trigger IF...THEN CASE FOR...DO WHILE...DO

structured text code (that is, other REPEAT...UNTIL
statements). Terminate the construct EXIT
with a semi colon (;).

Comment Text that explains or clarifies what a //comment

section of structured text does. (*start of comment . . . end of comment*)
Use comments to make it easier to /*start of comment . . . end of comment*/
interpret the structured text.
Comments do not affect the execution of
the structured text.
Comments can appear anywhere in
structured text.

Structured Text Components: Assignments

Use an assignment to change the value stored within a tag. An assignment has this syntax:

tag := expression;

where:

Component Description

Tag Represents the tag that is getting the new value; the tag must be a BOOL, SINT, INT,
DINT, STRING, or REAL.
Tip: The STRING tag is applicable to

CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, Compact GuardLogix

5380, and GuardLogix 5580 controllers

only.

:= Is the assignment symbol

Expression Represents the new value to assign to the tag

If tag is this data type Use this type of expression

BOOL BOOL

SINT Numeric

INT

DINT

REAL

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STRING String type, including string tag and string

literal
(
(
CompactLogix 5380, CompactLogix 5480,
ControlLogix 5580, Compact GuardLogix CompactLogix 5380, CompactLogix 5480,
5380, and GuardLogix 5580 controllers ControlLogix 5580, Compact GuardLogix
5380, and GuardLogix 5580 controllers
only).
only).

; Ends the assignment

The tag retains the assigned value until another assignment changes the value.

The expression can be simple, such as an immediate value or another tag name, or the expression can be complex
and include several operators and functions, or both. Refer to Expressions for more information.

Tip: I/O module data updates asynchronously to the execution of logic. If you reference an input multiple
times in your logic, the input could change state between separate references. If you need the input to
have the same state for each reference, buffer the input value and reference that buffer tag. For more
information, see Logix 5000 Controllers Common Procedures, publication 1756-PM001.

You can also use Input and Output program parameters which automatically buffer the data during the
Logix Designer application execution. See LOGIX 5000 Controllers Program Parameters Programming
Manual, publication 1756-PM021.

Specify a non-retentive assignment

The non-retentive assignment is different from the regular assignment described above in that the tag in a non-
retentive assignment is reset to zero each time the controller:

• Enters the Run mode

• Leaves the step of an SFC if you configure the SFC for Automatic reset. This applies only if you embed
the assignment in the action of the step or use the action to call a structured text routine by using a JSR
instruction.

A non-retentive assignment has this syntax:

tag [:=] expression ;

where:

Component Description

tag Represents the tag that is getting the new value; the tag must be a BOOL, SINT, INT,
DINT, STRING, or REAL.
Tip: The STRING tag is applicable to

CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, Compact GuardLogix

5380, and GuardLogix 5580 controllers

only.

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[:=] Is the non-retentive assignment symbol.

expression Represents the new value to assign to the tag.

If tag is this data type Use this type of expression

BOOL BOOL

SINT Numeric

INT

DINT

REAL

STRING String type, including string tag and string

literal
(
CompactLogix 5380, CompactLogix 5480,
CompactLogix 5380, CompactLogix 5480,
ControlLogix 5580, Compact GuardLogix
ControlLogix 5580, Compact GuardLogix
5380, and GuardLogix 5580 controllers
5380, and GuardLogix 5580 controllers
( only)
only).

Assign an ASCII character to a string data member

Use the assignment operator to assign an ASCII character to an element of the DATA member of a string tag. To assign
a character, specify the value of the character or specify the tag name, DATA member, and element of the character.
For example:

This is OK This is not OK

string1.DATA[0] := 65; string1.DATA[0] := A;

string1.DATA[0]:= string2.DATA[0]; string1 := string2;

Tip: This assigns all content of string2 to string1 instead of just
one character.

To add or insert a string of characters to a string tag, use either of these ASCII string instructions:

To Use this instruction

Add characters to the end of a string CONCAT

Insert characters into a string INSERT

Character string literals

Character string literals include single byte or double byte encoded characters. A single-byte string literal is a
sequence of zero or more characters that are prefixed and terminated by the single quote character ('). In single
byte character strings, the three-character combination of the dollar sign ($) followed by two hexadecimal digits is
interpreted as the hexadecimal representation of the eight-bit character code as shown in the following table.

Tip: Character string literals are only applicable to

the CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, Compact GuardLogix 5380,
and GuardLogix 5580 controllers. Studio 5000 only supports single byte characters.

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Character string literals

No. Description Example

1a Empty string (length zero) ''

1b String of length one or character CHAR 'A'

containing a single character

1c String of length one or character CHAR ''

containing the “space” character

1d String of length one or character CHAR '$''

containing the “single quote” character

1e String of length one or character CHAR '"'

containing the “double quote” character

1f Support of two character combinations '$R$L'

1g Support of a character representation '$0A'

with ‘$’ and two hexadecimal characters

Two-character combinations in character strings

No. Description Example

1 Dollar sign $$

2 Single quote $'

3 Line feed $L or $I

4 Newline $N or $n

5 Form feed (page) $P or $p

6 Carriage return $R or $r

7 Tabulator $T or $t

Tip: The newline character provides an implementation-independent means of defining the end of a line
of data for both physical and file I/O; for printing, the effect is that of ending a line of data and resuming
printing at the beginning of the next line.

The $' combination is only valid inside single quoted string literals.

Integer literal suffixes

This table lists suffixes you can add to integer literals in Structured Text, and the corresponding range for each suffix.

Suffix Literal data type Range

None DINT -2,147,483,648 to 2,147,483,648

L LINT -9,223,372,036,854,775,808
to 9,223,372,036,854,775,808

U UDINT 0 to 4,294,967,295

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Suffix Literal data type Range

UL ULINT 0 to 18,446,744,073,709,551,615

Structured Text Components: Expressions

An expression is a tag name, equation, or comparison. To write an expression, use any of the following:

• Tag name that stores the value (variable)

• Number that you enter directly into the expression (immediate value)
• String literal that you enter directly into the expression (
CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, Compact GuardLogix 5380, and GuardLogix 5580
controllers
only)
• Functions, such as: ABS, TRUNC
• Operators, such as: +, -, <, >, And, Or

Follow these guidelines for writing expressions:

• Use any combination of upper-case and lower-case letter. For example, these variations of "AND" are
acceptable: AND, And, and.
• For more complex requirements, use parentheses to group expressions within expressions. This makes the
whole expression easier to read, and ensures that the expression executes in the desired sequence.

Use these expressions for structured text:

BOOL expression: An expression that produces the BOOL value of 1 (true) or 0 (false).

• A bool expression uses bool tags, relational operators, and logical operators to compare values or check if
conditions are true or false. For example, tag1>65.
• A simple bool expression can be a single BOOL tag.
• Typically, use bool expressions to condition the execution of other logic.

Numeric expression: An expression that calculates an integer or floating-point value.

• A numeric expression uses arithmetic operators, arithmetic functions, and bitwise operators. For example,
tag1+5.
• Nest a numeric expression within a BOOL expression. For example, (tag1+5)>65.

String expression: An expression that represents a string

• A simple expression can be a string literal or a string tag

Use this table to select the operators for expressions.

If Use

Calculating an arithmetic value Arithmetic operators and functions

Comparing two values or strings Relational operators

Verifying if conditions are true or false Logical operators

Comparing the bits within values Bitwise operators

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Use arithmetic operators and functions

Combine multiple operators and functions in arithmetic expressions.

Operators calculate new values.

To Use this operator Optimal data type

Add + DINT, REAL

Subtract/negate - DINT, REAL

Multiply * DINT, REAL

Exponent (x to the power of y) ** DINT, REAL

Divide / DINT, REAL

Modulo-divide MOD DINT, REAL

Functions perform math operations. Specify a constant, a non-Boolean tag, or an expression for the function.

For Use this function Optimal data type

Absolute value ABS (numeric_expression) DINT, REAL

Arc cosine ACOS (numeric_expression) REAL

Arc sine ASIN (numeric_expression) REAL

Arc tangent ATAN (numeric_expression) REAL

Cosine COS (numeric_expression) REAL

Radians to degrees DEG (numeric_expression) DINT, REAL

Natural log LN (numeric_expression) REAL

Log base 10 LOG (numeric_expression) REAL

Degrees to radians RAD (numeric_expression) DINT, REAL

Sine SIN (numeric_expression) REAL

Square root SQRT (numeric_expression) DINT, REAL

Tangent TAN (numeric_expression) REAL

Truncate TRUNC (numeric_expression) DINT, REAL

The table provides examples for using arithmetic operators and functions.

Use this format Example

For this situation Write

value1 operator value2 If gain_4 and gain_4_adj are DINT tags gain_4_adj := gain_4+15;
and your specification says:
‘Add 15 to gain_4 and store the result in
gain_4_adj’"

operator value1 If alarm and high_alarm are DINT tags alarm:= -high_alarm;
and your specification says:
‘Negate high_alarm and store the result in
alarm.’

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function(numeric_expression) If overtravel and overtravel_POS are overtravel_POS := ABS(overtravel);

DINT tags and your specification says:
‘Calculate the absolute value of overtravel
and store the result in overtravel_POS.’

value1 operator If adjustment and position are DINT tags position := adjustment + ABS((sensor1 +
(function((value2+value3)/2) and sensor1 and sensor2 are REAL tags sensor2)/2);
and your specification says: ‘Find the
absolute value of the average of sensor1
and sensor2, add the adjustment, and
store the result in position.’

Use relational operators

Relational operators compare two values or strings to provide a true or false result. The result of a relational
operation is a BOOL value.

If the comparison is The result is

True 1

False 0

Use these relational operators.

For this comparison Use this operator Optimal data type

Equal = DINT, REAL, String type

Less than < DINT, REAL, String type

Less than or equal <= DINT, REAL, String type

Greater than > DINT, REAL, String type

Greater than or equal >= DINT, REAL, String type

Not equal <> DINT, REAL, String type

The table provides examples of using relational operators

Use this format Example

For this situation Write

value1 operator value2 If temp is a DINT tag and your IF temp<100 THEN...
specification says: ‘If temp is less than
100⋅ then…’

stringtag1 operator stringtag2 If bar_code and dest are string tags and IF bar_code=dest THEN...
your specification says: ‘If bar_code
equals dest then…’

stringtag1 operator 'character string If bar_code is a string tag and your IF bar_code=’Test PASSED’ THEN...
literal' specification says: ‘If bar_code equals
’Test PASSED’ then...’

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char1 operator char2 If bar_code is a string tag and your IF bar_code.DATA[0]=65 THEN...
To enter an ASCII character directly into specification says: ‘If bar_code.DATA[0]
the expression, enter the decimal value of equals ’A’ then…’
the character.

bool_tag := bool_expressions If count and length are DINT tags, done is Done := (count >= length);
a BOOL tag, and your specification says:
‘If count is greater than or equal to length,
you are done counting.’

How strings are evaluated

The hexadecimal values of the ASCII characters determine if one string is less than or greater than another string.

• When the two strings are sorted as in a telephone directory, the order of the strings determines which one is
greater.

• Strings are equal if their characters match.

• Characters are case sensitive. Upper case "A" ($41) is not equal to lower case "a" ($61).

Use logical operators

Use logical operators to verify if multiple conditions are true or false. The result of a logical operation is a BOOL value.

If the comparison is The result is

true 1

false 0

Use these logical operators.

For this comparison Use this operator Optimal data type

logical AND &, AND BOOL

logical OR OR BOOL

logical exclusive OR XOR BOOL

logical complement NOT BOOL

The table provides examples of using logical operators.

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Chapter 1 Program Structured Text

Use this format Example

For this situation Use

BOOLtag If photoeye is a BOOL tag and your IF photoeye THEN...

specification says: "If photoeye_1 is on
then..."

NOT BOOLtag If photoeye is a BOOL tag and your IF NOT photoeye THEN...
specification says: "If photoeye is off
then..."

expression1 & expression2 If photoeye is a BOOL tag, temp is a IF photoeye & (temp<100) THEN...
DINT tag, and your specification says: "If
photoeye is on and temp is less than 100
then..."

expression1 OR expression2 If photoeye is a BOOL tag, temp is a IF photoeye OR (temp<100) THEN...

DINT tag, and your specification says: "If
photoeye is on or temp is less than 100
then...".

expression1 XOR expression2 If photoeye1 and photoeye2 are BOOL tags IF photoeye1 XOR photoeye2 THEN...
and your specification says: "If:
photoeye1 is on while photoeye2 is off or
photoeye1 is off while photoeye2 is on
then..."

BOOLtag := expression1 & expression2 If photoeye1 and photoeye2 are BOOL open := photoeye1 & photoeye2;
tags, open is a BOOL tag, and your
specification says: "If photoeye1 and
photoeye2 are both on, set open to true"

Use bitwise operators

Bitwise operators manipulate the bits within a value based on two values.

The following provides an overview of the bitwise operators.

For Use this operator Optimal data type

bitwise AND &, AND DINT

bitwise OR OR DINT

bitwise exclusive OR XOR DINT

bitwise complement NOT DINT

This is an example.

Use this format Example

For this situation Use

value1 operator value2 If input1, input2, and result1 are DINT tags result1 := input1 AND input2;
and your specification says: "Calculate

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 Chapter 1 Program Structured Text

the bitwise result of input1 and input2.

Store the result in result1."

Determine the order of execution

The operations written into an expression perform in a prescribed order.

• Operations of equal order perform from left to right.

• If an expression contains multiple operators or functions, group the conditions in parenthesis "( )". This
ensures the correct order of execution, and makes it easier to read the expression.

Order Operation

1 ()

2 function (...)

3 **

4 - (negate)

5 NOT

6 *,/,MOD

7 +,- (subtract)

8 <,<=,>,>=

9 =,<>

10 &,AND

11 XOR

12 OR

Structured Text Components: Instructions

Structured text statements can also be instructions. A structured text instruction executes each time it is scanned.
A structured text instruction within a construct executes every time the conditions of the construct are true. If
the conditions of the construct are false, the statements within the construct are not scanned. There is no rung-
condition or state transition that triggers execution.

This differs from function block instructions that use EnableIn to trigger execution. Structured text instructions
execute as if EnableIn is always set.

This also differs from ladder diagram instructions that use rung-condition-in to trigger execution. Some ladder
diagram instructions only execute when rung- condition-in toggles from false to true. These are transitional ladder
diagram instructions. In structured text, instructions execute when they are scanned unless pre-conditioning the
execution of the structured text instruction.

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For example, the ABL instruction is a transitional instruction in ladder diagram. In this example, the ABL instruction
only executes on a scan when tag_xic transitions from cleared to set. The ABL instruction does not execute when
tag_xic stays set or when tag_xic clears.

In structured text, if writting this example as:

IF tag_xic THEN ABL(0,serial_control);

END_IF;

The ABL instruction will execute every scan that tag_xic is set, not just when tag_xic transitions from cleared to set.

If you want the ABL instruction to execute only when tag_xic transitions from cleared to set, you have to condition the
structured text instruction. Use a one-shot to trigger execution.

osri_1.InputBit := tag_xic;

OSRI(osri_1);

IF (osri_1.OutputBit) THEN

ABL(0,serial_control);

END_IF;

Structured Text Components: Constructs

Program constructs alone or nest within other constructs.

If Use this construct

Doing something if or when specific conditions occur IF. . . THEN

Selecting what to do based on a numerical value CASE. . . OF

Doing something a specific number of times before doing FOR. . . DO

anything else

Continuing doing something when certain conditions are true WHILE. . . DO

Continuing doing something until a condition is true REPEAT. . . UNTIL

Some Key Words are Reserved

These constructs are not available:

• GOTO
• REPEAT

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Logix Designer application will not let you use them as tag names or constructs.

IF_THEN
Use IF_THEN to complete an action when specific conditions occur.

Operands
IF bool_expression THEN

<statement>;

Operand Type Format Enter

Bool_ BOOL Tag expression BOOL tag or expression that

expression evaluates to a BOOL value
(BOOL expression)

Description
The syntax is described in the table.

To use ELSIF or ELSE, follow these guidelines.

To select from several possible groups of statements, add one or more ELSIF statements.

Each ELSIF represents an alternative path.

Specify as many ELSIF paths as you need.

The controller executes the first true IF or ELSIF and skips the rest of the ELSIFs and the ELSE.

To do something when all of the IF or ELSIF conditions are false, add an ELSE statement.

The table summarizes different combinations of IF, THEN, ELSIF, and ELSE.

If And Use this construct

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Doing something if or when conditions Do nothing if conditions are false IF_THEN

are true Do something else if conditions are false IF_THEN_ELSE

Selecting alternative statements or Do nothing if conditions are false IF_THEN_ELSIF

groups of statements based on input Assign default statements if all conditions IF_THEN_ELSIF_ELSE
conditions are false

Affects Math Status Flags

No

Major/Minor Faults
None.

Examples

Example 1
IF…THEN

If performing this Enter this structured text

IF rejects > 3 then IF rejects > 3 THEN

conveyor = off (0) conveyor := 0;

alarm = on (1) alarm := 1;

END_IF;

Example 2
IF_THEN_ELSE

If performiing this Enter this structured text

If conveyor direction contact = forward (1) then IF conveyor_direction THEN

light = off light := 0;

Otherwise light = on ELSE

light [:=] 1;

END_IF;

The [:=] tells the controller to clear light whenever the controller does the following :

Enters the RUN mode.

Leaves the step of an SFC if you configure the SFC for Automatic reset. (This applies only if you embed the
assignment in the action of the step or use the action to call a structured text routine via a JSR instruction.)

Example 3
IF…THEN…ELSIF

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If performing this Enter this structured text

If sugar low limit switch = low (on) and sugar high limit switch = IF Sugar.Low & Sugar.High THEN
not high
(on) then

inlet valve = open (on) Sugar.Inlet [:=] 1;

Until sugar high limit switch = high (off ) ELSIF NOT(Sugar.High) THEN

Sugar.Inlet := 0;

END_IF;

The [:=] tells the controller to clear Sugar.Inlet whenever the controller does the following :

Enters the RUN mode.

Leaves the step of an SFC if you configure the SFC for Automatic reset. (This applies only if you embed the
assignment in the action of the step or use the action to call a structured text routine via a JSR instruction.)

Example 4
IF…THEN…ELSIF…ELSE

If performing this Enter this structured text

If tank temperature > 100 IF tank.temp > 200 THEN

then pump = slow pump.fast :=1; pump.slow :=0; pump.off :=0;

If tank temperature > 200 ELSIF tank.temp > 100 THEN

then pump = fast pump.fast :=0; pump.slow :=1; pump.off :=0;

Otherwise pump = off ELSE

pump.fast :=0; pump.slow :=0; pump.off :=1;

END_IF;

CASE_OF
Use CASE_OF to select what to do based on a numerical value.

Operands
CASE numeric_expression OF

selector1: statement;

selectorN: statement; ELSE

Structured Text
Operand Type Format Enter

Numeric_ SINT INT DINT REAL Tag expression Tag or expression that
expression evaluates to a number

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Operand Type Format Enter

(numeric expression)

Selector SINT INT DINT REAL Immediate Same type as

numeric_expression

IMPORTANT: If using REAL values, use a range of values for a selector because a REAL value is more
likely to be within a range of values than an exact match of one, specific value.

Description
The syntax is described in the table.

These are the syntax for entering the selector values.

When selector is Enter

One value value: statement

Multiple, distinct values value1, value2, valueN : <statement>

Use a comma (,) to separate each value.

A range of values value1..valueN : <statement>

Use two periods (..) to identify the range.

Distinct values plus a range of values valuea, valueb, value1..valueN : <statement>

The CASE construct is similar to a switch statement in the C or C++ programming languages. With the CASE construct,
the controller executes only the statements that associated with the first matching selector value. Execution always
breaks after the statements of that selector and goes to the END_CASE statement.

Affects Math Status Flags

No

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Major/Minor Faults
None

Example
If you want this Enter this structured text

If recipe number = 1 then Ingredient A outlet 1 = open (1) CASE recipe_number OF

Ingredient B outlet 4 = open (1) 1:
Ingredient_A.Outlet_1 :=1; Ingredient_B.Outlet_4 :=1;

If recipe number = 2 or 3 then 2,3:

Ingredient A outlet 4 = open (1) Ingredient_A.Outlet_4 :=1; Ingredient_B.Outlet_2 :=1;
Ingredient B outlet 2 = open (1)

If recipe number = 4, 5, 6, or 7 then Ingredient A outlet 4 = open 4..7: Ingredient_A.Outlet_4 :=1; Ingredient_B.Outlet_2 :=1;
(1) Ingredient B outlet 2 = open (1)

If recipe number = 8, 11, 12, or 13 then Ingredient A outlet 1 = 8,11..13

open (1) Ingredient B outlet 4 = open (1) Ingredient_A.Outlet_1 :=1; Ingredient_B.Outlet_4 :=1;

Otherwise all outlets = closed (0) ELSE

Ingredient_A.Outlet_1 [:=]0; Ingredient_A.Outlet_4 [:=]0;

Ingredient_B.Outlet_2 [:=]0; Ingredient_B.Outlet_4 [:=]0;

END_CASE;

The [:=] tells the controller to also clear the outlet tags whenever the controller does the following:

Enters the RUN mode.

Leaves the step of an SFC if configuring the SFC for Automatic reset. This applies only embedding the assignment in
the action of the step or using the action to call a structured text routine via a JSR instruction.

FOR_DO
Use the FOR_DO loop to perform an action a number of times before doing anything else.

When enabled, the FOR instruction repeatedly executes the Routine until the Index value exceeds the Terminal value.
The step value can be positive or negative. If it is negative, the loop ends when the index is less than the terminal
value.. If it is positive, the loop ends when the index is greater than the terminal value.

Each time the FOR instruction executes the routine, it adds the Step size to the Index.

Do not loop too many times in a single scan. An excessive number of repetitions causes the controller watchdog to
timeout and causes a major fault.

Operands
FOR count:= initial_value TO

final_value BY increment DO

<statement>;

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END_FOR;

Operand Type Format Description

count SINT INT DINT Tag Tag to store count position as

the FOR_DO executes

initial_ value SINT INT DINT Tag expression Immediate Must evaluate to a number
Specifies initial value for count

final_ value SINT INT DINT Tag expression Immediate Specifies final value for count,
which determines when to exit
the loop

increment SINT INT DINT Tag expression Immediate (Optional) amount to increment
count each time through the
loop
If you don’t specify an
increment, the count
increments by 1.

IMPORTANT: Do not iterate within the loop too many times in a single scan.

The controller does not execute other statements in the routine until it completes the loop.

A major fault occurs when completing the loop takes longer than the watchdog timer for the task.

Consider using a different construct, such as IF_THEN.

Description
The syntax is described in the table.

This diagrams illustrates how a FOR_DO loop executes, and how an EXIT statement leaves the loop early.

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The FOR_DO loop executes a specific number of times. To stop the loop before the count reaches the last value, use an
EXIT statement.

Affects Math Status Flags

No

Major/Minor Faults
A major fault will occur if Fault type Fault code

The construct loops too long. 6 1

Example 1
If performing the following, Enter this structured text

Clear bits 0…31 in an array of BOOLs: For subscript:=0 to 31 by 1 do

Initialize the subscript tag to 0. array[subscript] := 0;
Clear i . For example, when subscript = 5, clear array[5].
End_for;
Add 1 to subscript.
If subscript is ≤ to 31, repeat 2 and 3.
Otherwise, stop.

Example 2
If performing the following, Enter this structured text

A user-defined data type (structure) stores the following SIZE(Inventory,0,Inventory_Items);

information about an item in your inventory: For position:=0 to Inventory_Items - 1 do
• Barcode ID of the item (String data type)
If Barcode = Inventory[position].ID then
• Quantity in stock of the item (DINT data type)
Quantity := Inventory[position].Qty;
An array of the above structure contains an element for each
different item in your inventory. You want to search the array Exit;

for a specific product (use its bar code) and determine the End_if;
quantity that is in stock. End_for;
1. Get the size (number of items) of the Inventory array and
store the result in
2. Inventory_Items (DINT tag).

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Initialize the position tag to 0.

1. If Barcode matches the ID of an item in the array, then:
Set the Quantity tag = Inventory[position].Qty. This produces the
quantity in stock of the item.
Stop.
Barcode is a string tag that stores the bar code of the item for
which you are searching. For example, when
position = 5, compare Barcode to Inventory[5].ID.
1. Add 1 to position.
2. If position is ≤ to (Inventory_Items -1), repeat 3 and 4.
Since element numbers start at 0, the last element is 1 less
than the number of elements in the array.
Otherwise, stop.

WHILE_DO
Use the WHILE_DO loop to continue performing an action while certain conditions are true.

Operands
WHILE bool_expression DO

<statement>;

Structured Text
Operand Type Format Description

bool_expression BOOL tag BOOL tag or expression that

expression evaluates to a BOOL value

IMPORTANT: Do not iterate within the loop too many times in a single scan.

The controller does not execute any other statements in the routine until it completes the loop.

A major fault occurs when completing the loop takes longer than the watchdog timer for the task.

Consider using a different construct, such as IF_THEN.

Description

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The syntax is:

The following diagrams illustrate how a WHILE_DO loop executes, and how an EXIT statement leaves the loop early.

While the bool_expression is true, the controller To stop the loop before the conditions are true, use an EXIT
executes only the statements within the WHILE_DO loop. statement.

Affects Math Status Flags

No

Fault Conditions
A major fault will occur if Fault type Fault code

the construct loops too long 6 1

Example 1
If performing the following, Enter this structured text

The WHILE_DO loop evaluates its pos := 0;

conditions first. If the conditions are While ((pos <= 100) & structarray[pos].value <> targetvalue)) do
true, the controller then executes the
pos := pos + 2;
statements within the loop.
String_tag.DATA[pos] := SINT_array[pos];
This differs from the REPEAT_UNTIL loop
because the REPEAT_UNTIL loop executes end_while;
the statements in the construct and then
determines if the conditions are true
before executing the statements again.
The statements in a REPEAT_UNTIL loop

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are always executed at least once. The

statements in a WHILE_DO loop might
never be executed.

Example 2
If performing the following, Enter this structured text

Move ASCII characters from a SINT array into a string tag. (In a element_number := 0;
SINT array, each element holds one character.) Stop when you SIZE(SINT_array, 0, SINT_array_size);
reach the carriage return.
While SINT_array[element_number] <> 13 do
Initialize Element_number to 0.
String_tag.DATA[element_number] :=
Count the number of elements in SINT_array (array that
SINT_array[element_number];
contains the ASCII characters) and store the result in
SINT_array_size (DINT tag). element_number := element_number + 1;

If the character at SINT_array[element_number] = 13 (decimal String_tag.LEN := element_number;

value of the carriage return), then stop. If element_number = SINT_array_size then
Set String_tag[element_number] = the character at
exit;

SINT_array[element_number]. end_if;

Add 1 to element_number. This lets the controller check the next end_while;
character in SINT_array.
Set the Length member of String_tag = element_number. (This
records the number of characters in String_tag so far.)
If element_number = SINT_array_size, then stop. (You are at the
end of the array and it does not contain a carriage return.)

REPEAT_UNTIL
Use the REPEAT_UNTIL loop to continue performing an action until conditions are true.

Operands
REPEAT

<statement>;

Structured Text
Operand Type Format Enter

bool_ BOOL Tag expression BOOL tag or expression that

expression evaluates to a BOOL value
(BOOL expression)

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IMPORTANT: Do not iterate within the loop too many times in a single scan.

The controller does not execute other statements in the routine until it completes the loop.

A major fault occurs when completing the loop takes longer than the watchdog timer for the task.

Consider using a different construct, such as IF_THEN.

Description
The syntax is:

The following diagrams show how a REPEAT_UNTIL loop executes and how an EXIT statement leaves the loop early.

While the bool_expression is false, the controller executes only the statements within the REPEAT_UNTIL loop.

To stop the loop before the conditions are false, use an EXIT statement.

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Affects Math Status Flags

No

Fault Conditions
A major fault will occur if Fault type Fault code

The construct loops too long 6 1

Example 1
If performing the following, Enter this structured text

The REPEAT_UNTIL loop executes the statements in the pos := -1;

construct and then determines if the conditions are true before REPEAT
executing the statements again. This differs from the WHILE_DO
pos := pos + 2;
loop because the WHILE_DO The WHILE_DO loop evaluates its
UNTIL ((pos = 101) OR (structarray[pos].value = targetvalue))
conditions first.
If the conditions are true, the controller then executes the end_repeat;

statements within the loop. The statements in a REPEAT_UNTIL

loop are always executed at least once. The statements in a
WHILE_DO loop might never be executed.

Example 2
If performing the following, Enter this structured text

Move ASCII characters from a SINT array into a string tag. (In a element_number := 0;
SINT array, each element holds one character.) Stop when you SIZE(SINT_array, 0, SINT_array_size);
reach the carriage return.
Repeat
Initialize Element_number to 0.
String_tag.DATA[element_number] :=
Count the number of elements in SINT_array (array that
SINT_array[element_number];
contains the ASCII characters) and store the result in
SINT_array_size (DINT tag). element_number := element_number + 1;

Set String_tag[element_number] = the character at String_tag.LEN := element_number;

SINT_array[element_number]. If element_number = SINT_array_size then

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Add 1 to element_number. This lets the controller check the next exit;
character in end_if;

SINT_array. Until SINT_array[element_number] = 13

Set the Length member of String_tag = element_number. (This end_repeat;

records the number of characters in String_tag so far.)

If element_number = SINT_array_size, then stop. (You are at the
end of the array and it does not contain a carriage return.)
If the character at SINT_array[element_number] = 13 (decimal
value of the carriage return), then stop.

Structured Text Components: Comments

To make your structured text easier to interpret, add comments to it.

• Comments let you use plain language to describe how your structured text works.
• Comments do not affect the execution of the structured text.

To add comments to your structured text:

To add a comment Use one of these formats

on a single line //comment

at the end of a line of structured text (*comment*)

/*comment*/

within a line of structured text (*comment*)

/*comment*/

that spans more than one line (*start of comment. . .end of comment*)
/*start of comment. . .end of comment*/

For example:

Format Example

//comment At the beginning of a line

//Check conveyor belt direction
IF conveyor_direction THEN...
At the end of a line
ELSE //If conveyor isn’t moving, set alarm light
light := 1;
END_IF;

(*comment*) Sugar.Inlet[:=]1;(*open the inlet*)

IF Sugar.Low (*low level LS*)& Sugar.High (*high level
LS*)THEN...
(*Controls the speed of the recirculation pump. The speed
depends on the temperature in the tank.*)
IF tank.temp > 200 THEN...

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/*comment*/ Sugar.Inlet:=0;/*close the inlet*/

IF bar_code=65 /*A*/ THEN...
/*Gets the number of elements in the Inventory array and stores
the value in the Inventory_Items tag*/
SIZE(Inventory,0,Inventory_Items);

About code snippets

Code snippets are predefined blocks of code for inserting into a Structured Text routine. Type a keyword for a code
snippet and then press Tab to insert the snippet into the routine. Fill in the parameters in the snippet, and then press
Tab to move from through the parameters. Each parameter is highlighted in orange.

The following predefined code snippets are available:

• If ... Then
• Elsif ... Then
• Case ... Of
• For ... Do
• While ... Do
• Repeat ... Until
• #region ... #endregion

Insert a code snippet

Code snippets are predefined blocks of code that you can insert in a Structured Text routine.

To insert a code snippet:

1. Place the cursor at the spot in the routine to insert the code snippet.
2. Type the keyword for the snippet to insert: if, elsif, case, for, while, repeat, or #region.
3. Press Tab.
4. Fill in the parameters in the snippet. Press Tab to move to the next parameter, or press Shift + Tab to move
to the previous parameter. The parameters are highlighted in orange.
5. To exit the snippet session, press Esc to leave the cursor in its present position, or press Enter to move the
cursor to the next line or to the next logical spot to enter logic.

About outlining in Structured Text routines

Use outlining to organize a Structured Text routine into collapsible segments. Define segments automatically using
automatic outlining, or by marking specific regions.

When automatic outlining is enabled, the editor creates a collapsible outline segment when a line starts with
#region, if, while, repeat, for, and case, and ends with the matching end construct, such as #endregion or end_if.

View the contents of a collapsed segment without expanding it by hovering the cursor over the segment. To expand
and collapse all the segments in a routine at once, on the main menu, select Edit > Outlining > Expand all outlining
or Edit > Outlining > Collapse all outlining.

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Enable or disable automatic outlining

Automatic outlining creates a collapsible segment in the Structured Text editor when a line starts with if, while,
repeat, for, and case, and ends with the matching end construct, such as end_if.

To enable automatic outlining:

1. On the main menu, select Tools > Options to open the Workstation Options dialog box.
2. In the Categories pane, select Structured Text Editor.
3. Select the Automatic Outlining check box. To disable automatic outlining, clear the check box. Automatic
outlining is enabled by default.

Expand and collapse code segments in the Structured Text editor

Automatic outlining organizes a Structured Text routine into collapsible segments. Use Expand All Outlining and
Collapse All Outlining to quickly expand or collapse all the segments in a routine.

To expand and collapse code segments:

1. On the main menu, select select Edit > Outlining > Expand All Outlining to expand all segments in the
routine. Select Edit > Outlining > Collapse All Outlining to collapse all segments.
2. To toggle a segment from expanded to collapsed, select Edit > Outlining > Toggle Current Outlining.

Define a collapsible segment in a Structured Text routine

Outlining organizes a Structured Text routine into collapsible segments. Use automatic outlining to automatically
define collapsible segments, or define collapsible segments using the #region and #endregion keywords.

To use outlining constructs:

1. At the start of the first line in the segment, enter a beginning construct, such as #region. The following
constructs are supported:
◦ if . . . end_if
◦ case . . . end_case
◦ for . . . end_for
◦ while . . . end_while
◦ Repeat . . . end_repeat
◦ #region . . . #endregion
◦ /* . . . */ for multi-line comments
◦ (* . . . *) for multi-line comments
2. At the start of the last line in the segment, enter the ending construct, such as #endregion.
The following example shows a simple segment:

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To navigate between associated matching keywords for the keyword at the cursor location, select Search >
Matching Keyword, or press Ctrl+].

Tip: The #region . . . #endregion construct does not execute, so it can precede an SBR
instruction at the beginning of a routine.

Tip: The #region . . . #endregion construct can be used as part of a statement within a built-in
construct, such as a CASE_OF statement. The following example shows the #region . . . #endregion
construct in a CASE_OF statement, with regions expanded and collapsed:

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