Preface

SIMOTION SIMOTION SCOUT SIMOTION ST Structured Text

1
______________
Introduction

2
SIMOTION ______________
Getting Started with ST

3
SIMOTION ST Structured Text ______________
ST Fundamentals

Functions, Function Blocks,

4
______________
and Programs

Integration of ST in
5
Programming and Operating Manual ______________
SIMOTION

Error Sources and Program

6
______________
Debugging

A
______________
Appendix

08/2008
Safety Guidelines
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.

CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.

NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.

Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.

Prescribed Usage
Note the following:

WARNING
This device may only be used for the applications described in the catalog or the technical description and only
in connection with devices or components from other manufacturers which have been approved or
recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage,
positioning and assembly as well as careful operation and maintenance.

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Siemens AG Copyright © Siemens AG 2008.

Industry Sector Technical data subject to change
Postfach 48 48
90327 NÜRNBERG
GERMANY
Preface

Scope
This document is part of the SIMOTION Programming documentation package.
This document is valid for product version V4.1 Service Pack 2 of SIMOTION SCOUT (the
engineering system of the SIMOTION product family) in conjunction with:
● a SIMOTION device with the following versions of the SIMOTION kernel:
– V4.1 SP2
– V4.1 SP1
– V4.0
– V3.2
– V3.1
– V3.0
● The relevant version of the following SIMOTION Technology Packages, depending on the
kernel
– Cam
– Path (kernel V4.1 and higher)
– Cam_ext (kernel V3.2 and higher)
– TControl
– Gear, Position and Basic MC (only for kernel V3.0).
This document describes the syntax and implementation of the SIMOTION ST Structured
Text programming language for this version of SIMOTION SCOUT. It also includes
information on the following topics:
● ST Editor and Compiler with program example
● Data storage and data management on SIMOTION devices
● Options for diagnosis and troubleshooting
The scope of the SIMOTION ST programming language may contain new syntax elements
compared to earlier versions. These have only been tested using the current version of the
SIMOTION kernel and are released only for this kernel version or higher versions.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 3
Preface

Conversion of existing projects to the current SIMOTION SCOUT version

It is possible to upgrade existing projects to the current version of SIMOTION SCOUT and
the SIMOTION ST programming language. In some cases, recompilation using the current
version of the compiler can change the version identifiers in the data storage areas of the
programs, thus resulting in deletion and initialization of all retentive and non-retentive data
on the SIMOTION device. In exceptional cases, minor changes to the program source files
may also be required.
If new syntax elements of the SIMOTION ST programming language are used on a
SIMOTION device with an older version of the SIMOTION kernel, the compiler issues a
warning (version V3.2.1 and higher of the SIMOTION kernel). If these syntax elements are
used anyway, the project can be stored in the old project format, but can no longer be
converted using the compiler of an older version of SIMOTION SCOUT.

Information in this manual

The following is a list of chapters included in this manual along with a description of the
information presented in each chapter.
● Introduction (Chapter 1)
● Getting Started with ST (Chapter 2)
Requirements for creating programs and a sample program
● ST Basics (Chapter 3)
Elements of the ST programming language, variable and data type declarations,
statements
● Functions, Function Blocks and Programs (Chapter 4)
Programming and call of the program organization units (POU)
● Integration of ST in SIMOTION SCOUT (Chapter 5)
Behavior of variables, access to inputs and outputs, libraries, preprocessor
● Error Sources and Program Test (Chapter 6)
Information on error sources, efficient programming, and program testing
● Appendices
– Formal Language Description (Appendix A.1)
– Compiler Error Messages and Remedies (Appendix A.2)
– Template for Example Unit (Appendix A.3)
● Index
If you want to get started immediately, begin by working through Chapter 2.

SIMOTION ST Structured Text

4 Programming and Operating Manual, 08/2008
 Preface

SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of references.
This documentation is included as electronic documentation with the supplied SIMOTION
SCOUT.
The SIMOTION documentation consists of 9 documentation packages containing
approximately 80 SIMOTION documents and documents on related systems (e.g.
SINAMICS).
The following documentation packages are available for SIMOTION V4.1 SP2:
● SIMOTION Engineering System
● SIMOTION System and Function Descriptions
● SIMOTION Diagnostics
● SIMOTION Programming
● SIMOTION Programming - References
● SIMOTION C
● SIMOTION P350
● SIMOTION D4xx
● SIMOTION Supplementary Documentation

Hotline and Internet addresses

Technical support
If you have any technical questions, please contact our hotline:

Europe / Africa
Phone +49 180 5050 222 (subject to charge)
Fax +49 180 5050 223
Internet http://www.siemens.com/automation/support-request

Americas
Phone +1 423 262 2522
Fax +1 423 262 2200
E-mail mailto:techsupport.sea@siemens.com

Asia / Pacific
Phone +86 1064 719 990
Fax +86 1064 747 474
E-mail mailto:adsupport.asia@siemens.com

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 5
Preface

Note
Country-specific telephone numbers for technical support are provided under the following
Internet address:
http://www.siemens.com/automation/service&support
Calls are subject to charge, e.g. 0.14 €/min. on the German landline network. Tariffs of other
phone companies may differ.

Questions about this documentation

If you have any questions (suggestions, corrections) regarding this documentation, please
fax or e-mail us at:

Fax +49 9131- 98 63315

E-mail mailto:docu.motioncontrol@siemens.com

Siemens Internet address

The latest information about SIMOTION products, product support, and FAQs can be found
on the Internet at:
● General information:
– http://www.siemens.de/simotion (German)
– http://www.siemens.com/simotion (international)
● Product support:
– http://support.automation.siemens.com/WW/view/en/10805436

Additional support
We also offer introductory courses to help you familiarize yourself with SIMOTION.
Please contact your regional training center or our main training center at D-90027
Nuremberg, phone +49 (911) 895 3202.
Information about training courses on offer can be found at:
www.sitrain.com

SIMOTION ST Structured Text

6 Programming and Operating Manual, 08/2008
Contents
Preface ...................................................................................................................................................... 3
1 Introduction.............................................................................................................................................. 15
1.1 High-level programming language...............................................................................................15
1.2 Programming language with technology commands ...................................................................15
1.3 Execution levels ...........................................................................................................................15
1.4 ST editor with tools for writing and testing programs...................................................................16
2 Getting Started with ST............................................................................................................................ 17
2.1 Integration of ST in SCOUT .........................................................................................................17
2.1.1 Getting to know the elements of the workbench..........................................................................19
2.2 Requirements for program creation .............................................................................................20
2.3 Working with the ST editor and the compiler ...............................................................................21
2.3.1 Insert ST source file .....................................................................................................................21
2.3.2 Opening an existing ST source file ..............................................................................................23
2.3.3 Changing the properties of an ST source file ..............................................................................23
2.3.4 Working with the ST editor...........................................................................................................25
2.3.4.1 Syntax coloring.............................................................................................................................25
2.3.4.2 Drag&drop....................................................................................................................................26
2.3.4.3 Shortcuts ......................................................................................................................................27
2.3.4.4 Settings of the ST editor ..............................................................................................................29
2.3.4.5 Indentations and tabs...................................................................................................................30
2.3.4.6 Folds (show and hide blocks) ......................................................................................................32
2.3.4.7 Display spaces and tabs ..............................................................................................................35
2.3.4.8 Changing the font size in the ST editor........................................................................................36
2.3.4.9 Select text ....................................................................................................................................37
2.3.4.10 Use bookmarks ............................................................................................................................39
2.3.4.11 Automatic completion...................................................................................................................40
2.3.4.12 Other help for the ST editor .........................................................................................................42
2.3.4.13 Using the command library ..........................................................................................................42
2.3.4.14 ST editor toolbar ..........................................................................................................................43
2.3.5 Starting the compiler ....................................................................................................................44
2.3.5.1 Help for the error correction .........................................................................................................44
2.3.6 Making settings for the compiler ..................................................................................................44
2.3.6.1 Global compiler settings...............................................................................................................45
2.3.6.2 Local compiler settings ................................................................................................................46
2.3.6.3 Meaning of warning classes.........................................................................................................49
2.3.6.4 Display of the compiler options ....................................................................................................49
2.3.7 Know-how protection for ST source files .....................................................................................51
2.3.8 Making preprocessor definitions ..................................................................................................51
2.3.9 Exporting, importing and printing an ST source file .....................................................................53
2.3.9.1 Exporting an ST source file as a text file (ASCII).........................................................................53
2.3.9.2 Exporting an ST source file in XML format ..................................................................................53
2.3.9.3 Importing a text file (ASCII) as an ST source file.........................................................................54
2.3.9.4 Importing XML data into ST source files......................................................................................54

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 7
Contents

2.3.9.5 Printing an ST source file ............................................................................................................ 54

2.3.10 Using an external editor .............................................................................................................. 55
2.3.11 ST source file menus .................................................................................................................. 57
2.3.11.1 ST source file menu .................................................................................................................... 57
2.3.11.2 ST source file context menu........................................................................................................ 58
2.4 Creating a sample program......................................................................................................... 59
2.4.1 Requirements.............................................................................................................................. 59
2.4.2 Opening or creating a project...................................................................................................... 60
2.4.3 Making the hardware known ....................................................................................................... 61
2.4.4 Entering source text with the ST editor ....................................................................................... 62
2.4.4.1 Functions of the editor................................................................................................................. 63
2.4.4.2 Source text of the sample program............................................................................................. 64
2.4.5 Compiling a sample program ...................................................................................................... 64
2.4.5.1 Starting the compiler ................................................................................................................... 64
2.4.5.2 Correcting errors ......................................................................................................................... 65
2.4.5.3 Example of error messages ........................................................................................................ 65
2.4.6 Running the sample program...................................................................................................... 66
2.4.6.1 Assigning a sample program to an execution level .................................................................... 66
2.4.6.2 Establishing a connection to the target system........................................................................... 67
2.4.6.3 Downloading the sample program to the target system ............................................................. 69
2.4.6.4 Starting and testing the sample program .................................................................................... 70
3 ST Fundamentals .................................................................................................................................... 71
3.1 Language description resources................................................................................................. 71
3.1.1 Syntax diagram ........................................................................................................................... 71
3.1.2 Blocks in syntax diagrams........................................................................................................... 72
3.1.3 Meaning of the rules (semantics)................................................................................................ 72
3.2 Basic elements of the language.................................................................................................. 73
3.2.1 ST character set.......................................................................................................................... 73
3.2.2 Identifiers in ST ........................................................................................................................... 73
3.2.2.1 Rules for identifiers ..................................................................................................................... 73
3.2.2.2 Examples of identifiers ................................................................................................................ 74
3.2.3 Reserved identifiers .................................................................................................................... 75
3.2.3.1 Protected identifiers .................................................................................................................... 76
3.2.3.2 Additional reserved identifiers..................................................................................................... 81
3.2.4 Numbers and Boolean values ..................................................................................................... 82
3.2.4.1 Integers ....................................................................................................................................... 82
3.2.4.2 Floating-point numbers ............................................................................................................... 83
3.2.4.3 Exponents ................................................................................................................................... 83
3.2.4.4 Boolean values............................................................................................................................ 84
3.2.4.5 Data types of numbers ................................................................................................................ 84
3.2.5 Character strings......................................................................................................................... 85
3.3 Structure of an ST source file...................................................................................................... 86
3.3.1 Statements .................................................................................................................................. 87
3.3.2 Comments ................................................................................................................................... 88
3.4 Data types ................................................................................................................................... 89
3.4.1 Elementary data types ................................................................................................................ 90
3.4.1.1 Elementary data types ................................................................................................................ 90
3.4.1.2 Value range limits of elementary data types ............................................................................... 92
3.4.1.3 General data types...................................................................................................................... 92
3.4.1.4 Elementary system data types.................................................................................................... 93
3.4.2 User-defined data types .............................................................................................................. 94
3.4.2.1 User-defined data types .............................................................................................................. 94

SIMOTION ST Structured Text

8 Programming and Operating Manual, 08/2008
 Contents

3.4.2.2 Syntax of user-defined data types (type declaration) ..................................................................95

3.4.2.3 Derivation of elementary or derived data types ...........................................................................96
3.4.2.4 Derived data type ARRAY ...........................................................................................................97
3.4.2.5 Derived data type - Enumerator...................................................................................................99
3.4.2.6 Derived data type STRUCT (structure)......................................................................................100
3.4.3 Technology object data types ....................................................................................................101
3.4.3.1 Description of the technology object data types ........................................................................101
3.4.3.2 Inheritance of the properties for axes ........................................................................................103
3.4.3.3 Examples of the use of technology object data types ...............................................................103
3.4.4 System data types .....................................................................................................................104
3.5 Variable declaration ...................................................................................................................105
3.5.1 Syntax of variable declaration....................................................................................................105
3.5.2 Overview of all variable declarations .........................................................................................106
3.5.3 Initialization of variables or data types.......................................................................................107
3.5.4 Constants ...................................................................................................................................111
3.6 Value assignments and expressions .........................................................................................112
3.6.1 Value assignments.....................................................................................................................113
3.6.1.1 Syntax of the value assignment .................................................................................................113
3.6.1.2 Value assignments with variables of an elementary data type..................................................114
3.6.1.3 Value assignments with variables of the STRING elementary data type ..................................114
3.6.1.4 Value assignments with variables of a bit data type ..................................................................116
3.6.1.5 Value assignments with variables of the derived enumerator data type ...................................117
3.6.1.6 Value assignments with variables of the derived ARRAY data type .........................................118
3.6.1.7 Value assignments with variables of the derived STRUCT data type .......................................118
3.6.2 Expressions................................................................................................................................119
3.6.2.1 Result of an expression .............................................................................................................120
3.6.2.2 Interpretation order of an expression.........................................................................................120
3.6.3 Operands ...................................................................................................................................121
3.6.4 Arithmetic expressions...............................................................................................................122
3.6.4.1 Examples of arithmetic expressions ..........................................................................................124
3.6.5 Relational expressions...............................................................................................................125
3.6.6 Logic expressions and bit-serial expressions ............................................................................127
3.6.7 Priority of operators....................................................................................................................129
3.7 Control statements.....................................................................................................................130
3.7.1 IF statement ...............................................................................................................................130
3.7.2 CASE statement ........................................................................................................................131
3.7.3 FOR statement...........................................................................................................................134
3.7.3.1 Processing of the FOR statement..............................................................................................134
3.7.3.2 Rules for the FOR statement .....................................................................................................135
3.7.3.3 Example of the FOR statement..................................................................................................135
3.7.4 WHILE statement.......................................................................................................................136
3.7.5 REPEAT statement....................................................................................................................137
3.7.6 EXIT statement ..........................................................................................................................138
3.7.7 RETURN statement ...................................................................................................................138
3.7.8 WAITFORCONDITION statement .............................................................................................139
3.7.9 GOTO statement........................................................................................................................140
3.8 Data type conversions ...............................................................................................................141
3.8.1 Elementary data type conversion...............................................................................................141
3.8.1.1 Implicit data type conversions....................................................................................................142
3.8.1.2 Explicit data type conversions....................................................................................................144
3.8.2 Supplementary conversions.......................................................................................................145

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 9
Contents

4 Functions, Function Blocks, and Programs............................................................................................ 147

4.1 Creating and calling functions and function blocks................................................................... 147
4.1.1 Defining functions...................................................................................................................... 148
4.1.2 Defining function blocks ............................................................................................................ 149
4.1.3 Declaration section of FB and FC ............................................................................................. 149
4.1.4 Statement section of FB and FC............................................................................................... 151
4.1.5 Call of functions and function block calls .................................................................................. 153
4.1.5.1 Principle of parameter transfer.................................................................................................. 153
4.1.5.2 Parameter transfer to input parameters .................................................................................... 153
4.1.5.3 Parameter transfer to in/out parameters ................................................................................... 154
4.1.5.4 Parameter transfer to output parameters (for FB only)............................................................. 155
4.1.5.5 Parameter access times............................................................................................................ 156
4.1.5.6 Calling a function....................................................................................................................... 156
4.1.5.7 Calling function blocks (instance calls) ..................................................................................... 157
4.1.5.8 Accessing the FB's output parameter outside the FB............................................................... 159
4.1.5.9 Accessing the FB's input parameter outside the FB ................................................................. 159
4.1.5.10 Error sources in FB calls ........................................................................................................... 159
4.2 Comparison of functions and function blocks ........................................................................... 161
4.2.1 Description of example.............................................................................................................. 161
4.2.2 Source file with comments ........................................................................................................ 162
4.3 Programs................................................................................................................................... 164
4.4 Expressions............................................................................................................................... 166
5 Integration of ST in SIMOTION.............................................................................................................. 169
5.1 Source file sections ................................................................................................................... 169
5.1.1 Use of the source file sections .................................................................................................. 169
5.1.1.1 Interface section........................................................................................................................ 170
5.1.1.2 Implementation section ............................................................................................................. 171
5.1.1.3 Program organization units (POUs) .......................................................................................... 171
5.1.1.4 Functions (FCs)......................................................................................................................... 172
5.1.1.5 Function blocks (FBs) ............................................................................................................... 173
5.1.1.6 Programs................................................................................................................................... 174
5.1.1.7 Expressions............................................................................................................................... 174
5.1.1.8 Declaration section.................................................................................................................... 175
5.1.1.9 Statement section ..................................................................................................................... 176
5.1.1.10 Data type definition ................................................................................................................... 176
5.1.1.11 Variable declaration .................................................................................................................. 177
5.1.2 Import and export between ST source files .............................................................................. 179
5.1.2.1 Unit identifier ............................................................................................................................. 179
5.1.2.2 Interface section of an exporting unit ........................................................................................ 179
5.1.2.3 Example of an exporting unit .................................................................................................... 181
5.1.2.4 USES statement in an importing unit ........................................................................................ 181
5.1.2.5 Example of an importing unit..................................................................................................... 183
5.2 Variables in SIMOTION............................................................................................................. 184
5.2.1 Variable model .......................................................................................................................... 184
5.2.1.1 Unit variables ............................................................................................................................ 186
5.2.1.2 Non-retentive unit variables ...................................................................................................... 187
5.2.1.3 Retentive unit variables............................................................................................................. 188
5.2.1.4 Local variables (static and temporary variables)....................................................................... 189
5.2.1.5 Static variables.......................................................................................................................... 191
5.2.1.6 Temporary variables ................................................................................................................. 192
5.2.2 Use of global device variables .................................................................................................. 193
5.2.3 Memory ranges of the variable types........................................................................................ 194

SIMOTION ST Structured Text

10 Programming and Operating Manual, 08/2008
 Contents

5.2.3.1 Example of memory areas, valid as of Kernel V3.1...................................................................196

5.2.3.2 Memory requirement of the variables on the local data stack (Kernel V3.1 and higher)...........199
5.2.3.3 Memory requirement of variables on local data stack (Kernel V3.0 and below) .......................199
5.2.4 Time of the variable initialization................................................................................................200
5.2.4.1 Initialization of retentive global variables ...................................................................................201
5.2.4.2 Initialization of non-retentive global variables ............................................................................202
5.2.4.3 Initialization of local variables ....................................................................................................204
5.2.4.4 Initialization of static program variables.....................................................................................204
5.2.4.5 Initialization of instances of function blocks (FBs) .....................................................................205
5.2.4.6 Initialization of system variables of technology objects .............................................................206
5.2.4.7 Version ID of global variables and their initialization during download......................................207
5.2.5 Variables and HMI devices ........................................................................................................208
5.3 Access to inputs and outputs (process image, I/O variables)....................................................211
5.3.1 Overview of access to inputs and outputs .................................................................................211
5.3.2 Important features of direct access and process image access................................................212
5.3.3 Direct access and process image of cyclic tasks.......................................................................214
5.3.3.1 Rules for I/O addresses for direct access and the process image of the cyclical tasks ............216
5.3.3.2 Creating I/O variables for direct access or process image of cyclic tasks.................................217
5.3.3.3 Syntax for entering I/O addresses .............................................................................................219
5.3.3.4 Possible data types of I/O variables ..........................................................................................220
5.3.4 Access to fixed process image of the BackgroundTask ............................................................220
5.3.4.1 Absolute access to the fixed process image of the BackgroundTask (absolute PI access)......221
5.3.4.2 Syntax for the identifier for an absolute process image access ................................................222
5.3.4.3 Symbolic access to the fixed process image of the BackgroundTask (symbolic PI access).....223
5.3.4.4 Possible data types for symbolic PI access...............................................................................224
5.3.4.5 Example of symbolic PI access .................................................................................................224
5.3.4.6 Creating an I/O variable for access to the fixed process image of the BackgroundTask ..........225
5.3.5 Accessing I/O variables .............................................................................................................226
5.4 Using libraries ............................................................................................................................227
5.4.1 Compiling a library .....................................................................................................................227
5.4.2 Know-how protection for libraries...............................................................................................229
5.4.3 Using data types, functions and function blocks from libraries..................................................230
5.5 Use of the same identifiers and namespaces............................................................................231
5.5.1 Use of the same identifiers ........................................................................................................231
5.5.2 Namespaces ..............................................................................................................................233
5.6 Reference data ..........................................................................................................................237
5.6.1 Cross-reference list....................................................................................................................237
5.6.1.1 Creating a cross-reference list ...................................................................................................237
5.6.1.2 Content of the cross-reference list .............................................................................................238
5.6.1.3 Working with a cross-reference list ............................................................................................239
5.6.2 Program structure ......................................................................................................................239
5.6.2.1 Content of the program structure ...............................................................................................240
5.6.3 Code attributes...........................................................................................................................241
5.6.3.1 Code attribute contents..............................................................................................................241
5.7 Controlling the preprocessor and compiler with pragmas .........................................................242
5.7.1 Controlling a preprocessor.........................................................................................................243
5.7.1.1 Preprocessor statement.............................................................................................................244
5.7.1.2 Example of preprocessor statements ........................................................................................246
5.7.2 Controlling compiler with attributes............................................................................................247
5.8 Jump statement and label..........................................................................................................250

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 11
Contents

6 Error Sources and Program Debugging................................................................................................. 251

6.1 Notes on avoiding errors and on efficient programming ........................................................... 251
6.2 Program debugging................................................................................................................... 252
6.2.1 Modes for program testing ........................................................................................................ 252
6.2.1.1 Modes of the SIMOTION devices ............................................................................................. 252
6.2.1.2 Important information about the life-sign monitoring................................................................. 254
6.2.1.3 Life-sign monitoring parameters ............................................................................................... 256
6.2.2 Symbol Browser ........................................................................................................................ 257
6.2.2.1 Properties of the symbol browser ............................................................................................. 257
6.2.2.2 Using the symbol browser......................................................................................................... 257
6.2.3 Monitoring variables in watch table........................................................................................... 261
6.2.3.1 Variables in the watch table ...................................................................................................... 261
6.2.3.2 Using watch tables .................................................................................................................... 261
6.2.4 Program run .............................................................................................................................. 263
6.2.4.1 Program run: Display code location and call path .................................................................... 263
6.2.4.2 Parameter call stack program run............................................................................................. 264
6.2.4.3 Program run toolbar .................................................................................................................. 264
6.2.5 Program status.......................................................................................................................... 265
6.2.5.1 Properties of the program status............................................................................................... 265
6.2.5.2 Using the status program .......................................................................................................... 266
6.2.5.3 Call path for program status...................................................................................................... 268
6.2.5.4 Parameter call path status program.......................................................................................... 270
6.2.6 Breakpoints ............................................................................................................................... 271
6.2.6.1 General procedure for setting breakpoints................................................................................ 271
6.2.6.2 Setting the debug mode ............................................................................................................ 271
6.2.6.3 Define the debug task group ..................................................................................................... 273
6.2.6.4 Debug task group parameters .................................................................................................. 275
6.2.6.5 Debug table parameter ............................................................................................................. 276
6.2.6.6 Setting breakpoints ................................................................................................................... 276
6.2.6.7 Breakpoints toolbar ................................................................................................................... 278
6.2.6.8 Defining the call path for a single breakpoint ............................................................................ 279
6.2.6.9 Breakpoint call path / task selection parameters ...................................................................... 281
6.2.6.10 Defining the call path for all breakpoints ................................................................................... 282
6.2.6.11 Call path / task selection parameters of all breakpoints per POU ............................................ 284
6.2.6.12 Activating breakpoints ............................................................................................................... 285
6.2.6.13 Display call stack....................................................................................................................... 287
6.2.6.14 Breakpoints call stack parameter.............................................................................................. 288
6.2.7 Trace ......................................................................................................................................... 289
A Appendix................................................................................................................................................ 291
A.1 Formal Language Description ................................................................................................... 291
A.1.1 Language description resources............................................................................................... 291
A.1.1.1 Formatted rules (lexical rules)................................................................................................... 291
A.1.1.2 Unformatted rules (syntactic rules) ........................................................................................... 293
A.1.2 Basic elements (terminals)........................................................................................................ 294
A.1.2.1 Letters, digits and other characters........................................................................................... 294
A.1.2.2 Formatting characters and separators in the rules ................................................................... 294
A.1.2.3 Formatting characters and separators for constants ................................................................ 296
A.1.2.4 Predefined identifiers for process image access ...................................................................... 297
A.1.2.5 Identifiers of the Taskstartinfo ................................................................................................... 297
A.1.2.6 Operators .................................................................................................................................. 298
A.1.2.7 Reserved words ........................................................................................................................ 299
A.1.3 Rules ......................................................................................................................................... 307
A.1.3.1 Identifiers................................................................................................................................... 307

SIMOTION ST Structured Text

12 Programming and Operating Manual, 08/2008
 Contents

A.1.3.2 Notation for constants (literals) ..................................................................................................308

A.1.3.3 Comments..................................................................................................................................316
A.1.3.4 Sections of the ST source file ....................................................................................................317
A.1.3.5 Structures of ST source files......................................................................................................318
A.1.3.6 Program organization units (POU).............................................................................................319
A.1.3.7 Declaration sections...................................................................................................................321
A.1.3.8 Structure of the declaration blocks.............................................................................................323
A.1.3.9 Data types ..................................................................................................................................330
A.1.3.10 Statement section ......................................................................................................................335
A.1.3.11 Value assignments and operations............................................................................................336
A.1.3.12 Call of functions and function block calls ...................................................................................343
A.1.3.13 Control statements.....................................................................................................................345
A.2 Compiler Error Messages and Remedies..................................................................................350
A.2.1 File access errors.......................................................................................................................350
A.2.2 Scanner errors ...........................................................................................................................350
A.2.3 Declaration errors in POU..........................................................................................................351
A.2.4 Declaration errors in type declaration ........................................................................................352
A.2.5 Declaration errors in variable declarations ................................................................................353
A.2.6 Errors in expression ...................................................................................................................354
A.2.7 Syntax errors, errors in expression ............................................................................................357
A.2.8 Error when linking a source file..................................................................................................358
A.2.9 Errors while loading the interface of another UNIT or technology package ..............................358
A.2.10 Implementation restrictions ........................................................................................................360
A.2.11 Warnings ....................................................................................................................................361
A.2.12 Information .................................................................................................................................365
A.3 Template for Example Unit ........................................................................................................367
A.3.1 Preliminary information ..............................................................................................................367
A.3.2 Type definition in the interface ...................................................................................................368
A.3.3 Variable declaration in the interface ..........................................................................................369
A.3.4 Implementation...........................................................................................................................371
A.3.5 Function .....................................................................................................................................372
A.3.6 Function block ............................................................................................................................373
A.3.7 Program .....................................................................................................................................374
A.3.8 Notes on initialization .................................................................................................................375
Index...................................................................................................................................................... 377

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 13
Introduction 1
In addition to conventional open and closed-loop control tasks, today's automation systems
are increasingly required to handle data management functions and complex mathematical
calculations. ST (Structured Text) is specially designed for these tasks. Standardized to IEC
61131-3 (German standard DIN EN-61131-3), this programming language makes your job
as a programmer easier.

1.1 High-level programming language

ST is a high-level, PASCAL-based programming language. This language is based on the
IEC 61131-3 standard, which standardizes programming languages for programmable
controllers (PLC). ST is based on the Structured Text part of this standard.
Using a high-level language like ST to program control systems offers the user a wide range
of possibilities, for example:
● Data management
● Process optimization
● Mathematical/statistical calculations

1.2 Programming language with technology commands

In addition to IEC 61131-3 compliance, the SIMOTION ST programming language also
contains commands for SIMOTION devices, motion control and technology.
Technology objects represent a technological functionality, e.g. positioning an axis or
assigning parameters for an output cam. Technology commands are language commands
provided by the technology objects. Such commands may be used, for example, to activate
camming or to control motion sequences, for example, in order to position an axis.

1.3 Execution levels

The SIMOTION execution system provides different execution levels (cyclic, synchronous,
time-controlled, alarm-controlled and sequential) for optimal support of the various tasks
involved in creating user programs.
SIMOTION SCOUT is the engineering system of the SIMOTION product family. ST is the
high-level language for creating user programs; in ST, you can develop user programs for
the various execution levels.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 15
Introduction
1.4 ST editor with tools for writing and testing programs

The execution of user programs can be time-driven if you want them to run synchronously
with the system clock or a defined time cycle. They can be interrupt-driven if they are to start
and run once in response to a particular event. Alternatively, they can run sequentially or
cyclically at the round robin execution level.

1.4 ST editor with tools for writing and testing programs

An easy-to-use text editor is provided for creating programs.
The ST compiler converts the edited program into executable code and indicates any syntax
errors, specifying the program line and the cause of the error.
SIMOTION SCOUT provides test functions for testing ST programs. You can test and
visualize your programs online.

SIMOTION ST Structured Text

16 Programming and Operating Manual, 08/2008
Getting Started with ST 2
This chapter uses a simple example to describe how to write a program, compile it into
executable code, run it, and test it.

2.1 Integration of ST in SCOUT

The program environment for ST comprises the following components:
● An editor for creating programs, consisting of functions (FC), function blocks (FB), and
user-defined data types (UDT), etc.
● A compiler for compiling the previously edited ST program into executable machine code
● The program status for assisting your search for logical program errors in the running
program
● A detail view, in which, for example, error messages of the compiler are displayed. An
important tab of the detail view is the Symbol browser, where you can monitor and
change variables.
The individual components are easy to use. They are integrated directly in the SIMOTION
SCOUT workbench.
For more information about the operation of the workbench and its tools, refer to the
SIMOTION SCOUT Configuration Manual.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 17
Getting Started with ST
2.1 Integration of ST in SCOUT

&RPSLOHU

3URJUDP6WDWXV

(GLWRU

'HWDLOYLHZ

Figure 2-1 Development environment of ST

SIMOTION ST Structured Text

18 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.1 Integration of ST in SCOUT

2.1.1 Getting to know the elements of the workbench

The workbench represents the framework for SIMOTION SCOUT. Its tools allow you to
perform all the steps necessary to configure, optimize and program a machine for your
application.

0HQXEDU

7RROEDUV

:RUNLQJDUHD

3URMHFWQDYLJDWRU

6\PEROEURZVHU

Figure 2-2 Workbench elements

The workbench contains the following elements:

● Menus
Menus contain menu commands with which you can control the workbench and call tools,
etc.
● Toolbars
You can execute many of the available menu commands by clicking the corresponding
button in one of the toolbars.
● Project navigator
The project navigator displays the entire project and its elements (e.g. CPU, axes, programs,
cams) in a tree structure.
● Work Area

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 19
Getting Started with ST
2.2 Requirements for program creation

This window allows you to perform specific tasks either independently (by programming) or
using wizards (by configuring).
● Detailed view
The detail view displays additional information about the elements selected in the project
navigator, e.g. all global variables for a program or the Compile/Test Output window.

2.2 Requirements for program creation

This section describes the general conditions you will need to meet before writing a program.
You will find detailed information in the SIMOTION SCOUT Configuring Manual and the
SIMOTION Motion Control function descriptions.

Add or open a project

The project is the highest level in the data management hierarchy. SIMOTION SCOUT
saves all data which belongs, for example, to a production machine, in the project directory.
This means that the project therefore brackets together all SIMOTION devices, drives, etc.
belonging to one machine.
Once you have created a project, you can:
● Configure hardware
● Insert and configure technology objects

Configuring hardware
Within the project, the hardware used must be made known to the system, including:
● SIMOTION device
● Centralized I/O (with I/O addresses)
● Distributed I/O (with I/O addresses)
A SIMOTION device must be configured before you can insert and edit ST source files.

Insert and configure technology objects

The functionality of axes, output cams, etc. is represented in SIMOTION by technology
objects (TOs).
You cannot program technology objects using system functions and access their system
variables until you have inserted and configured them.

SIMOTION ST Structured Text

20 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3 Working with the ST editor and the compiler

In this section, you will learn how to use the ST editor and the compiler.

2.3.1 Insert ST source file

ST source files are assigned to the SIMOTION device on which they are to run.

Proceed as follows
1. Open the appropriate SIMOTION device in the project navigator.
2. Select the PROGRAMS folder.
3. Select the menu Insert > Program > ST source file.
4. Enter the name of the ST source file.
Names for program source files must satisfy the rules for identifiers: They are made up of
letters (A … Z, a … z), digits (0 … 9) or single underscores (_) in any order, whereby the
first character must be a letter or underscore. No distinction is made between upper and
lower case letters.
The permissible length of the name depends on the SIMOTION Kernel version:
– As of Version V4.1 of the SIMOTION Kernel: maximum 128 characters.
– Up to Version V4.0 of the SIMOTION Kernel: maximum 8 characters.
Names must be unique within the SIMOTION device.
Protected or reserved identifiers (Page 75) are not allowed.
Existing program sources (e.g. ST source files, MCC units) are displayed.
5. If necessary, select further tabs to make local settings (only valid for this ST source file):
– Compiler tab: Local settings of the compiler (Page 46) for code generation and
message display.
– Additional settings tab: Definitions for preprocessor (Page 51)
6. Select the Open editor automatically checkbox.
7. Confirm with OK.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 21
Getting Started with ST
2.3 Working with the ST editor and the compiler

Figure 2-3 Insert ST source file

NOTICE
With versions of the SIMOTION Kernel up to V4.0, a violation of the permissible length of
the program source file name may not be detected until a consistency check or a download
of the program source file is performed!

SIMOTION ST Structured Text

22 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.2 Opening an existing ST source file

Proceed as follows
1. Open the subtree of the appropriate SIMOTION device in the project navigator.
2. Open the PROGRAMS folder.
3. Select the desired ST source file.
4. Select the Edit > Open object menu command.
5. Only for ST source files with know-how protection:
If the user with the login assigned to the ST source file has not yet logged on:
– Enter the corresponding password for the displayed login.
You can now open additional ST source files to which the same login is assigned without
having to re-enter the password.

Note
You can also double-click the required ST source file to open it.

2.3.3 Changing the properties of an ST source file

Proceed as follows
1. Under the SIMOTION device, open the PROGRAMS folder.
2. Select the desired ST source file.
3. Select the Edit > Object Properties menu command.
4. If necessary, select further tabs to make local settings (only valid for this ST source file):
– General tab: General details for the ST source, e.g. timestamp of the last change and
the storage location of the project (see figure).
– Compiler tab: Local settings of the compiler (Page 46) for code generation and
message display.
– Additional settings tab: Definitions for the preprocessor (Page 51) and display the
compiler options (Page 49) as specified for the current settings of the compiler.
– Compilation tab: Display of the compiler options (Page 49) for the last compilation of
the ST source.
– Object address tab: Set the internal object address of the ST source. The object
addresses of the other program sources are displayed.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 23
Getting Started with ST
2.3 Working with the ST editor and the compiler

Figure 2-4 Properties of an ST source file

Changing the name of an ST source file

You can also change the names of the ST source file here. To do this, click the [...] button.
Names for program source files must satisfy the rules for identifiers: They are made up of
letters (A … Z, a … z), numbers (0 … 9) or single underscores (_) in any order, whereby the
first character must be a letter or underscore. No distinction is made between upper and
lower case letters.
The permissible length of the name depends on the SIMOTION Kernel version:
● As of Version V4.1 of the SIMOTION Kernel: maximum 128 characters.
● Up to Version V4.0 of the SIMOTION Kernel: maximum 8 characters.
Names must be unique within the SIMOTION device.
Protected or reserved identifiers (Page 75) are not allowed.
Existing program sources (e.g. ST source files, MCC units) are displayed.

NOTICE
With versions of the SIMOTION Kernel up to V4.0, a violation of the permissible length of
the program source file name may not be detected until a consistency check or a download
of the program source file is performed!

SIMOTION ST Structured Text

24 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.4 Working with the ST editor

The ST editor makes it easier for you to work with the ST source file, variables and
technology objects through the following operator controls:
● Syntax coloring
● Drag&drop
● Menu commands and shortcuts

Figure 2-5 Opened ST source file in the ST editor

See also
Shortcuts (Page 27)

2.3.4.1 Syntax coloring

The ST editor represents language elements in different colors:
● Blue: Keywords and compiler built-in functions
● Magenta: Numbers, values
● Green: Comments
● Black: Technology objects, user code, variables

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 25
Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.4.2 Drag&drop

Drag&drop
A drag-and-drop operation (dragging while keeping the left mouse button pressed) enables
you to:
● Move selected text areas within an ST source file or to another opened ST source file.
● Copy names of variables from the symbol browser to the ST source file.
● Copy names (e.g. of technology objects, functions or function blocks) from the project
navigator to the ST source file.
● Copy system functions from the command library to the ST source file.

To copy names of variables from the symbol browser to the ST source file:
1. Select the entire line of the desired variable in the symbol browser. To do this, click the
line number at the start of the line.
2. Press the left mouse button and drag the line number to the desired position in the ST
source file.
The name of the selected variable is inserted in the ST source file.

To copy the name of an element (e.g. a technology object, a function or a function block)
from the project navigator to the ST source file:
1. Select the Project tab in the project navigator.
2. Select the element in the project navigator.
3. Press the left mouse button and drag the element to the desired position in the ST source
file.
The name of the selected element is inserted in the ST source file.

To copy a system function from the command library to the ST source file:
1. Select the Command Library tab in the project navigator.
2. Select the system function in the command library.
3. Press the left mouse button and drag the system function to the desired position in the ST
source file.
The system function is inserted in the ST source file with its parameters.

SIMOTION ST Structured Text

26 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.4.3 Shortcuts
The ST editor also provides keyboard shortcuts. Commands can currently also be called via
the Edit and ST editor menus:

Table 2-1 ST Editor keyboard shortcuts

Shortcuts Description
DEL Delete the selected area (Menu Edit > Delete)
F2 Jump to the next bookmark
Arrow key Move the cursor
SHIFT+F2 Jump to the previous bookmark
SHIFT+Arrow key Select line of text
CTRL+A Select all text (Menu Edit > Select All)
CTRL+B Save and compile ST source file (menu ST source > Accept and compile)
CTRL+C Copy the selected area to the clipboard
(Menu Edit > Copy)
CTRL+D Duplicate Row
CTRL+F Find text in ST source file (Menu Edit > Find)
CTRL+H Replace text in ST source file (Menu Edit > Replace)
CTRL+L Copy line
CTRL+V Paste clipboard contents (Menu Edit > Paste)
CTRL+X Cut the selected area (Menu Edit > Cut)
CTRL+Y Redo the last action (Menu Edit > Redo)
CTRL+Z Undo the last action (Menu Edit > Undo)
CTRL+space Automatic completion
CTRL+F2 Set or delete bookmarks
CTRL+F4 Close ST source (Menu ST source > Close)
CTRL+F7 Activation and deactivation of the Program Status function (menu ST source >
Program Status on/off)
CTRL+SHIFT+F2 Delete all bookmarks in the ST source code
CTRL+SHIFT+F3 Arrange windows, tile horizontally
CTRL+SHIFT+F5 Arrange windows, tile vertically
CTRL+SHIFT+F8 Format selected area
CTRL+SHIFT+F9 Move cursor to the start of the current or higher-level block
CTRL+SHIFT+F10 Move cursor to the end of the current block
CTRL+SHIFT+F11 Move cursor to the start of the higher-level block, 1st level
CTRL+SHIFT+F12 Move cursor to the start of the higher-level block, 2nd level
CTRL+ALT+B Display bracket pairs in the current ST source file
CTRL+ALT+C Folding: Hide all blocks of the current ST source file
CTRL+ALT+D Folding: Display all blocks of the current ST source file
CTRL+ALT+F Folding: Display or hide folding information in the current ST source file
CTRL+ALT+I Display indentation level in the current ST source file
CTRL+ALT+L Display or hide line numbers in the current ST source file.
CTRL+ALT+R Folding: Display all subordinate blocks

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 27
Getting Started with ST
2.3 Working with the ST editor and the compiler

Shortcuts Description
CTRL+ALT+T Folding: Display/hide block
CTRL+ALT+V Folding: Hide all subordinate blocks
CTRL+ALT+W Display or hide spaces and tabs in the current ST source file
CTRL+ADD (numeric keypad) Increase font size in the current ST source file
CTRL+MINUS Decrease font size in the current ST source file
(numeric keypad)
CTRL+DIV (numeric keypad) Change font size in the current ST source file to 100%
ALT+SHIFT+Arrow key Select text by column
ALT+SHIFT+L Change selected text to upper case
ALT+SHIFT+U Change selected text to lower case

Table 2-2 Combined keyboard and mouse actions

Keyboard Mouse Description

Single left click in text Set cursor
Double left click in text Select word
Press left button and drag mouse Select line of text
Single left click on line number Select line
SHIFT Single left click in text Select line of text
CTRL Single left click on line number Select all text (Menu Edit > Select All)
CTRL Single left click in bookmark column Set bookmarks
CTRL Turn mouse wheel Change font size
ALT Press left button and drag mouse Select text by column
ALT+SHIFT Single left click in text Select text by column

SIMOTION ST Structured Text

28 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.4.4 Settings of the ST editor

Proceed as follows:
1. Select the menu Tools > Settings.
2. Select the ST editor / Scripting tab.
3. Enter the settings.
4. Click OK or Accept to confirm.

Figure 2-6 ST Editor / Scripting

The settings also apply to the script editor.

The table below contains a description of the individual parameters.

Table 2-3 Parameter settings ST Editor / Scripting

Parameter Description
Display line numbering If active, the line numbers are displayed.
See: Other ST editor tools (Page 42).
Replace tabs with blanks You select here how text indentation is performed (for the
automatic indentation or by pressing the Tab key):
• If active: By adding the appropriate number of space
characters ($20).
• If inactive: By adding the tab character ($09).
See: Indentations and tabs (Page 30).
Tab width Number of characters skipped by a tab.
See: Indentations and tabs (Page 30).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 29
Getting Started with ST
2.3 Working with the ST editor and the compiler

Parameter Description
Tooltip display for function parameters When active, the parameters are displayed as tooltips for
the functions.
Automatic indent/outdent If active, for the text input, source file sections and blocks
are indented automatically by the set tab width.
See: Indentations and tabs (Page 30).
Folding active If active, the column with the folding information is displayed
at the left-hand side next to the edit area.
You can then hide blocks in an ST source file so that only
the first line of the block remains visible.
See: Fold (show and hide blocks) (Page 32)
Display indentation level If active, you can optically highlight the indent and outdent
for blocks using vertical help lines (in accordance with the
set tab size).
See: Indentations and tabs (Page 30).
Display bracket pairs If active, the associated bracket of the pair that belongs to
the bracket where the cursor is located will be found and
optically highlighted.
See: Other ST editor tools (Page 42).
Font Font for the display of the text in the ST editor. All non-
proportionally spaced fonts installed on the PC are available
for selection.
Font size Font size (in pt) for the display of the text in the ST editor.
See: Change the font size in the ST editor (Page 36).
Status format Format in which the variable values are displayed for the
program status (for ST editor only).
See: Properties of the program status (Page 265).

2.3.4.5 Indentations and tabs

Specify tab width

The standard tab width for all ST sources is specified in the settings of the ST
editor (Page 29).
This setting is used for all ST source files opened subsequently.

Indent using tabs or spaces

You can select in the settings of the ST editor (Page 29) how the text will be indented (e.g.
with the automatic indent and outdent when the Tab key is pressed):
● By adding the appropriate number of space characters ($20).
● By adding the tab character ($09).
This setting is used for all ST source files opened subsequently.

SIMOTION ST Structured Text

30 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

Automatically indent and outdent blocks

The ST editor recognizes blocks introduced with a keyword and terminated with another
keyword, e.g.:
● INTERFACE / END_INTERFACE
● IMPLEMENTATION / END_IMPLEMENTATION
● Declaration blocks (e.g. TYPE / END_TYPE, VAR / END_VAR)
● Program organization units (e.g. PROGRAM / END_PROGRAM)
● Control statements (e.g. IF / END_IF, FOR / END_FOR)
During the text input, the ST editor can automatically indent text within blocks by the tab size.
The end line of the block will be outdented automatically.
This function is activated in the settings of the ST editor (Page 29).

Note
This setting affects only the behavior during the text input. It does not have any effect on
existing text in the ST sources.

Format selection
You can use this function to force the blocks (see above) in an existing text to be indented by
the tab size in accordance with their hierarchy. The number of the leading spaces or tabs will
be changed:
● As specified by the current tab size of the ST source file.
● As specified by the current setting for the type of the indent (with tabs or spaces).
Follow these steps:
1. Select the text area in the ST editor that you want to format (see Select text (Page 37)).
2. Press the CTRL+SHIFT+F8 key combination.

NOTICE
Leading tabs or spaces will be replaced in a line only when the formatting changes their
number.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 31
Getting Started with ST
2.3 Working with the ST editor and the compiler

Display indentation level

You can optically highlight the indent and outdent for blocks using vertical help lines (in
accordance with the set tab size).

Figure 2-7 ST source with visible indent aid

You can activate or deactivate this function:

● For the active ST source
– Press the CTRL+ALT+I key combination.
● For all open ST sources:
– Activate or deactivate the Display indentation level checkbox in the ST editor
settings (Page 29).

2.3.4.6 Folds (show and hide blocks)

You can hide blocks in an ST source file so that only the first line of the block remains
visible. This increases the legibility during the editing or reading of an ST source file.
A block is introduced with a keyword and terminated with another keyword, e.g.:
● INTERFACE / END_INTERFACE
● IMPLEMENTATION / END_IMPLEMENTATION
● Declaration blocks (e.g. TYPE / END_TYPE, VAR / END_VAR)
● Program organization units (e.g. PROGRAM / END_PROGRAM)
● Control statements (e.g. IF / END_IF, FOR / END_FOR)
● Block comment (* / *)
How to recognize that a block is displayed:
● When the column is shown with the fold information (at the left-hand side next to the
editing area), a minus character appears next to the first line of the block.

SIMOTION ST Structured Text

32 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

How to recognize that a block is hidden:

● When the column is shown with the fold information (at the left-hand side next to the
editing area), a plus character appears next to the first line of the block.
● A hyphen is displayed below this line.

Figure 2-8 ST source for which all blocks are shown

Figure 2-9 ST source with hidden IF block (including block comment)

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 33
Getting Started with ST
2.3 Working with the ST editor and the compiler

Proceed as follows:
How to show or hide the column with the fold information (at the left-hand side of the editing
area):
● For the active ST source:
– Press the CTRL+ALT+F key combination.
● For all open ST sources:
– Activate or deactivate the Folding active checkbox in the settings of the ST
editor (Page 29).
How to hide a block:
● Click on the minus character in the column with the fold information.
Only the first line of the block remains visible. All subsequent lines of the block (including
lower-level blocks) will be hidden.
How to show a block:
● Click on the plus character in the column with the fold information.
All subsequent lines of the block will be shown. Lower-level blocks will be displayed in the
state they had when they were hidden.

Note
After opening an ST source in the editor, all lines of the ST source are visible. All blocks are
shown.

SIMOTION ST Structured Text

34 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.4.7 Display spaces and tabs

You can display spaces and tabs in the ST source files.

Figure 2-10 ST source file with visible spaces and tabs

Proceed as follows
How to specify whether spaces and tabs are displayed in the active ST source file:
1. Set the cursor in the opened ST source.
2. Press the CTRL+ALT+W key combination.
This setting is not saved when the ST source is closed.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 35
Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.4.8 Changing the font size in the ST editor

You can change the font size of the ST source in the editor. The font size of the line numbers
and the size of other display elements (e.g. fold marks, bookmarks) will also be changed.

Figure 2-11 Increased size display of the ST source

Proceed as follows
You can change the font size:
● For the current ST source
● For ST source files to be opened subsequently

How to change the font size for the current ST source (alternative):
● Press the CTRL key while moving the mouse wheel
● Press concurrently the CTRL key and one of the following keys on the numeric block:
– ADD (+) to increase,
– MINUS (-) to reduce,
– DIV for 100%.

How to change the font size for ST sources to be opened subsequently:

1. Open the settings for the ST editor (see Settings of the ST editor (Page 29)).
2. Enter the required font size.
This setting will used for all ST sources that will be opened subsequently. It does not affect
the currently opened ST sources.

SIMOTION ST Structured Text

36 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.4.9 Select text

Selecting lines of text

How to select lines of text:
● With the mouse:
– With pressed left mouse button, scan the text to be selected.
or
● With the keyboard or the mouse:
– Place the cursor with the arrow keys of the keyboard or with the mouse at the start of
the text to be selected.
– Press the Shift key while placing the cursor at the end of the text to be selected.

Figure 2-12 ST source with selected lines of text

Selecting columns of text

How to select columns of text:
● With the mouse:
– Press the Alt key while keeping the left mouse button pressed, scan the text to be
selected.
or

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 37
Getting Started with ST
2.3 Working with the ST editor and the compiler

● With the keyboard or the mouse:

– Place the cursor with the arrow keys of the keyboard or with the mouse at the start of
the text to be selected.
– Press the ALT+SHIFT key combination while placing the cursor at the end of the text
to be selected.

Figure 2-13 ST source with selected columns of text

Selecting a single line

How to select a single line:
● Click with the left mouse button next to the line number of the appropriate line.

Selecting the complete text

How to select the complete text (alternatives):
● Press the CTRL key while clicking with the left mouse button in the column with the line
numbers.
● Press the CTRL+A key combination.

SIMOTION ST Structured Text

38 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.4.10 Use bookmarks

You can set bookmarks in the ST editor. This allows you to jump to specific selected lines
within the ST source file.

Figure 2-14 ST source with bookmarks

Setting and deleting bookmarks

How to set a bookmark for a line of the active ST source file or to delete an existing
bookmark:
● With the keyboard and the mouse:
– Press the Ctrl key.
– Simultaneously, click with the left mouse button at the right-hand side next to the line
number of the appropriate line.
● With the keyboard:
– Set the cursor in the appropriate line of the ST source.
– Press the CTRL+F2 key combination.

NOTICE
Bookmarks are not saved when the ST source is closed.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 39
Getting Started with ST
2.3 Working with the ST editor and the compiler

Jump to bookmark
How to jump to the next bookmark within the ST source:
● Press the F2 key.
How to jump to the previous bookmark within the ST source:
● Press the SHIFT+F2 key combination.

Delete all bookmarks

How to delete all bookmarks in an ST source:
● Press the CTRL+SHIFT+F2 key combination.

2.3.4.11 Automatic completion

In the ST editor, you can automatically complete identifiers. A selection list with identifiers
that begin with the previously entered characters will be displayed.

Figure 2-15 ST editor, automatic completion of an identifier (e.g. END_)

SIMOTION ST Structured Text

40 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

Proceed as follows
How to automatically complete an identifier:
1. Write the first characters of the identifier (e.g. the letters of a word).
2. Press the Ctrl+space key combination.
The selection possibilities are displayed in a window.
3. Select the required identifier.

Note
If only a single identifier is offered for selection, the selection window will not be opened and
the identifier completed immediately.

Functional description
The following identifiers that begin with the specified character will be offered:
● Keywords of the Structured Text language
● Identifiers from the command library
● For technology objects including their system variables and configuration data
● Identifiers of the own ST source:
– Program organization units (POU)
– Data types
– Variables and constants
– Structure elements
● Identifiers from imported program sources

Note
Identifiers from the own ST source and from imported program sources will be displayed
correctly only when the corresponding program source has been compiled.
The display is made context-sensitive, only those types of identifiers that are appropriate at
the associated location of the ST source will be offered:
• Within a declaration block, only data types and keywords
• Within a program organization unit (POU), no data types
• For a structure (e.g. var_struct.xx), only structure components

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 41
Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.4.12 Other help for the ST editor

Display bracket pairs

The two brackets of a bracket-pair can be optically highlighted.
To do this, place the cursor next to a bracket. The editor attempts to find the associated
brackets of the pair and possibly displays both brackets red. This simplifies the recognition of
bracket pairs, in particular for nesting.
How to switch this function on or off:
● For the active ST source:
– Press the CTRL+ALT+B key combination.
● For all open ST sources:
– Activate or deactivate the Display bracket pairs checkbox in the ST editor
settings (Page 29).
This setting is also used for all ST source files opened subsequently.

Show and hide line numbers

Line numbers can be displayed in the ST editor:
How to switch this function on or off:
● For the active ST source file:
– Press the CTRL+ALT+L key combination.
● For all open ST sources:
– Activate or deactivate the Display line numbers checkbox in the ST editor
settings (Page 29).
This setting is also used for all ST source files opened subsequently.

2.3.4.13 Using the command library

The command library is a tab in the project navigator. It contains the available system
functions, system function blocks, and operators.
You can drag these elements from the command library to the ST editor window with
drag&drop.

SIMOTION ST Structured Text

42 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.4.14 ST editor toolbar

This toolbar contains important operating actions for programming:

Table 2-4 ST editor toolbar

Symbol Meaning
Program status
Click this icon to start the program status test mode. During the program execution,
you can monitor the values of the variables marked in the ST source.
The following prerequisites are necessary:
1. The program must be compiled with the appropriate compiler option.
2. The project and the program must be loaded into the target system.
3. An online connection to the target system must have been established.
Reclick this icon to end the program status.
See: Using the program status (Page 266).
Stop monitoring of the program variables
Click this icon in the program status test mode to stop the monitoring of the program
variables.
See Using the program status (Page 266).
Continue monitoring of the program variables
Click this icon in the program status test mode to continue the monitoring of the
program variables.
See: Using the program status (Page 266).
Refresh
Click this icon in the program status test mode to force the updating of the displayed
values. The monitoring of the program variables must have been activated.
See: Using the program status (Page 266).
Insert ST source file
Click this icon to create a new ST source file. The icon is active only when the
PROGRAMS folder where the ST source file is to be saved is selected in the project
navigator.
See: Insert ST source file (Page 21).
Accept and compile
Click this icon to transfer the current ST source file to the project and compile into
executable code.
See: Starting the compiler (Page 44).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 43
Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.5 Starting the compiler

Requirement
The ST source file has been opened with the ST editor.

Proceed as follows
1. Click in the window with the ST editor. The dynamic ST source file menu appears.
2. Select the ST source file > Accept and compile menu command.

Note
The ST source file menu is dynamic. It only appears if the window of the ST editor is active.

The compiler checks the syntax of the ST source file. The "Compile/check output" tab of the
detail view displays the successful compilation of the source text or compiler errors. The
error details include: The name of the ST source file, the number of the line in which the
error occurred, the error number and the error description.

2.3.5.1 Help for the error correction

To obtain help during error correction:
● Double-click the error message in the Compile/check output tab of the detail view.
The cursor is placed at the relevant line in the ST source file.

2.3.6 Making settings for the compiler

You can define the compiler settings (compiler options) as follows:
● Globally for the SIMOTION project, valid for all programming languages, seeGlobal
settings of the compiler (Page 45)
● Locally for an individual ST source within the SIMOTION project, see Local settings of the
compiler (Page 46)

SIMOTION ST Structured Text

44 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.6.1 Global compiler settings

The global setting are valid for all programming languages within the SIMOTION project.

Proceed as follows
1. Select the menu Tools > Settings.
2. Select the Compiler tab.
3. Define the settings according to the following table.
4. Confirm with OK.

Figure 2-16 Global compiler settings

Parameter

Table 2-5 Parameters for global compiler settings

Parameter Description
Warning classes1 Active: In addition to the error messages, the compiler outputs warning messages of the
selected classes.
Inactive: The compiler suppresses the warning messages of the respective class.
See also For meanings of the warning classes (Page 49).
Selective linking1 Active (standard): Unused code is removed from the executable program.
Inactive: Unused code is retained in the executable program.
Use preprocessor1 Active: Preprocessor is used (see Control preprocessor (Page 243)).
Inactive (standard): Preprocessor is not used.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 45
Getting Started with ST
2.3 Working with the ST editor and the compiler

Parameter Description
Enable program status1 Active: Additional program code is generated to enable monitoring of program variables
(including local variables).
Inactive (standard): Program status not possible.
See Properties of the program status (Page 265).
Permit language extensions1 Active: Language elements are permitted that do not comply with IEC 61131-3.
Inactive (standard): Only language elements that comply with IEC 61131-3 are permitted.
Only create program Active: The local variables of a program are only stored once in the user memory of the
instance data once1 unit. The setting is required when a further program is to be called within a program.
Inactive (standard): The local variables of a program are stored according to the task
assignment in the user memory of the respective task.
See Memory ranges of the variable types (Page 194).
Display all messages with Here, you can control the scope of the error log that will be displayed in the workbench's
Save and compile all2 detail view when you call the Save and compile all command in SIMOTION SCOUT.
Active: A detailed log is created that is similar to that for single compilation of an ST source
file.
Inactive: A compressed error log is created.
1 Local setting also possible, see Local settings of the compiler (Page 46).
2User-specific settings. Valid for all SIMOTION projects that the user processes.

NOTICE
You may have to recompile the project for the settings to take effect.

2.3.6.2 Local compiler settings

Local settings are configured individually for each ST source file; local settings overwrite
global settings.

Proceed as follows
1. Open the Properties window for the ST source file, see Changing the properties of an ST
source (Page 23):
Select the ST source file in the project navigator and select the Edit > Object properties
menu command.
2. Select the Compiler tab.
3. Define the settings according to the following table.
4. Confirm with OK.

SIMOTION ST Structured Text

46 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

Figure 2-17 Local compiler settings for the ST source file

Parameter

Table 2-6 Parameters for the local compiler settings for the ST source file

Parameter Description
Ignore global settings Affects:
• Warning classes
• Selective linking
• Use preprocessor
• Enable program status
• Permit language extensions
• Only create program instance data once
Active: Only the selected local settings apply. The global settings are ignored.
Inactive: The respective global setting can be adopted. The corresponding checkbox is
grayed out.
Suppress warnings In addition to error messages, the compiler can output warnings. You can set the scope of
the output warning messages:
Active: The compiler outputs the warning messages according to the selection in the global
settings of the warning classes. The checkboxes of the warning classes can no longer be
selected.
Inactive: The compiler outputs the warning messages according to the following selection of
the warning classes.
Warning classes1 Only for Suppress warnings = inactive.
Active: The compiler outputs warning messages of the selected class.
Inactive: The compiler suppresses warning messages of the respective class.
Grey background: The displayed global setting is adopted (only for Ignore global settings =
inactive).
See also For meanings of the warning classes (Page 49).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 47
Getting Started with ST
2.3 Working with the ST editor and the compiler

Parameter Description
Selective linking1 Active: Unused code is removed from the executable program.
Inactive: Unused code is retained in the executable program.
Grey background: The displayed global setting is adopted (only for Ignore global settings =
inactive).
Use preprocessor1 Active: Preprocessor is used.
Inactive: Preprocessor is not used.
Grey background: The displayed global setting is adopted (only for Ignore global settings =
inactive).
See Controlling the preprocessor (Page 243).
Enable program status1 Active: Additional program code is generated to enable monitoring of program variables
(including local variables).
Inactive: Program status not possible.
Grey background: The displayed global setting is adopted (only for Ignore global settings =
inactive).
See Properties of the program status (Page 265).
Permit language extensions1 Active: Language elements are permitted that do not comply with IEC 61131-3.
Inactive: Only language elements are permitted that comply with IEC 61131-3.
Grey background: The displayed global setting is adopted (only for Ignore global settings =
inactive).
Only create program Active: The local variables of a program are only stored once in the user memory of the
instance data once1 unit. The setting is required when a further program is to be called within a program.
Inactive: The local variables of a program are stored according to the task assignment in
the user memory of the respective task.
Grey background: The displayed global setting is adopted (only for Ignore global settings =
inactive).
See Memory ranges of the variable types (Page 194).
Enable OPC-XML Active: Symbol information for the unit variables of the ST source is available in the
SIMOTION device (required for the _exportUnitDataSet and _importUnitDataSet functions,
see the SIMOTION Basic Functions Function Manual.
Inactive: Icon information is not created,
1 Global setting also possible, see Global settings of the compiler (Page 45).

SIMOTION ST Structured Text

48 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.6.3 Meaning of warning classes

The table lists the warning classes and their meanings.

Table 2-7 Meaning of warning classes

Warning class Meaning

0 Warnings for unreferenced or unused code sections and data
1 Warnings for hidden identifiers
2 Warnings for data type conversion, e.g. for data change
3 Warnings about set compiler options
4 Warnings about semaphores (potentially faulty functions)
5 Warnings about alarm functions
6 Warnings about constructs in libraries (unit variables declared)
7 Messages of the preprocessor
For the detailed description of the compiler error messages, specify which warning classes
are assigned to the individual warnings (Page 361) and information (Page 365).

2.3.6.4 Display of the compiler options

You can view for a program source the following:
● The current compiler options using the global or local settings of the compiler.
● The compiler options used for the last compilation of the program source.

Requirement
The Properties window of the program source (Page 23) is open.

Proceed as follows
To display the current compiler options using the global or local settings of the
compiler (Page 44):
● Select the Additional settings tab.
The current compiler options for the program source are displayed. They are valid for a
future compilation.
To display the compiler options used for the last compilation of the program source:
● Select the Compiler tab.
The following are displayed for the last compilation of the program source:
– The version of the used compiler.
– The used compiler options.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 49
Getting Started with ST
2.3 Working with the ST editor and the compiler

Meaning of the compiler options

Compiler option Meaning

-c2 Do not create debug and symbol information.
-C lang_ext "Permit language extensions"1 active.
-C lang_iec "Permit language extensions" inactive.
-C opcsym "Permit OPC-XML"1 active.
-C no_opcsym "Permit OPC-XML" inactive.
-C opcsym "Use preprocessor"1 active.
-C no_preproc "Use preprocessor" inactive.
-C prog_once "Create program instance data only once"1 active.
-C prog_multi "Create program instance data only once" inactive.
-D text Preprocessor definition (Page 51).
-e local2 Only local settings act.
-e user2 Only global settings act.
No details (default): Global settings will be augmented with local settings.
-I2 Accept the package settings from device or library.
-l sel "Selective linking"1 active.
-l no_sel "Selective linking" inactive.
-s "Enable program status"1 active.
-s_off "Enable program status" inactive.
-w no_warn "Suppress warnings"1 active.
-w all_warn2 Display all warnings.
-w n_off Warning class n active1.
-w n_on Warning class n inactive1.
Further options Internal options of the SIMOTION compiler.
1 Meaning of the compiler option: see "Local compiler settings (Page 46)".
2 Only when the compiler is called from the command line, e.g. using scripting.

Note
The compiler options can also be specified when the compiler is called from the command
line, e.g. using scripting.

SIMOTION ST Structured Text

50 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.7 Know-how protection for ST source files

You can protect ST source files from access by unauthorized third parties. Protected ST
source files can only be opened or exported as plain text files by entering a password.
For information about how to apply know-how protection, refer to the online help.

Note
If you export in XML format, the ST source files are exported in an encrypted form. When
importing the encoded XML files, the know-how protection, including login and password,
remains in place.

See also
Know-how protection for libraries (Page 229)

2.3.8 Making preprocessor definitions

You can make definitions for the preprocessor (see Control preprocessor (Page 243)) in the
Properties dialog box of the ST source file. This enables you also to control the preprocessor
with ST source files with know-how protection (see Know-how protection for ST
sources (Page 51)).

Making preprocessor definitions in the Properties dialog box

1. Open the Properties window for the ST source file
(see Changing the properties of an ST source (Page 23)):
Select the ST source file in the project navigator and select the Edit > Object properties
menu command.
2. Select the Additional settings tab.
3. Enter the preprocessor definitions (syntax as shown in the following table).
4. Confirm with OK.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 51
Getting Started with ST
2.3 Working with the ST editor and the compiler

Figure 2-18 Preprocessor definitions

Table 2-8 Syntax of the preprocessor definitions

Syntax Meaning
Identifier=text The specified identifier is defined and replaced in the ST source file by
’Identifier=text’ the specified text.
"Identifier=text" Permissible characters: See table footnote.
If the expression contains blanks (e.g. in the text), the syntax
"Identifier=text" must be used.
Identifier The specified identifier is defined and replaced in the ST source file by
blank text.
Permissible characters: See table footnote.
Multiple preprocessor definitions are separated by commas: Definition_1, Definition_2, …
Permissible characters:
• For identifier: In accordance with the rules for identifiers: Series of letters (A … Z, a … z), digits
(0 … 9) or single underscores (_) in any order, whereby the first character must be a letter or
underscore. No distinction is made between upper and lower case letters.
• For text: Sequence of any characters other than \ (backslash), ’ (single quote) and ” (double
quote). The keywords USES, USELIB and USEPACKAGE are not permitted.

Note
Preprocessor definitions made within an ST source file with pragmas, overwrite the
definitions in the Properties dialog box.
Note the information for preprocessor statement (Page 244)!

SIMOTION ST Structured Text

52 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.9 Exporting, importing and printing an ST source file

An overview is provided here of the export, import and printing of an ST source file.

2.3.9.1 Exporting an ST source file as a text file (ASCII)

To export an ST source file as an ASCII file:
1. Open the ST source file (Page 23), if necessary entering the password (for ST source
files with know-how protection (Page 51)).
2. Make sure that the cursor is in the ST editor.
3. Select the ST source file > Export menu command.
4. Enter the path and file name for the ASCII file and click Save to confirm.
The ST source file is saved as an ASCII file; the file name is given the default extension *.st.
Alternatively, you can also proceed as follows:
1. Select the ST source file in the project navigator.
2. Select Export from the context menu.
3. Only for ST source files with know-how protection (Page 51):
If the user with the login assigned to the ST source file has not yet logged on:
– Enter the corresponding password for the displayed login.
You can now export or open additional ST source files to which the same login is
assigned, without having to re-enter the password.
4. Enter the path and file name for the ASCII file and click Save to confirm.

2.3.9.2 Exporting an ST source file in XML format

Follow these steps to export an ST source file in XML format:
1. Select the ST source file in the project navigator.
2. Select the context menu Expert > Save project and export object.
3. Specify the path for the XML export, and confirm with OK.
An XML file with the ST source file name and a folder with additional associated XML files
are saved in the specified path.

Note
Know-how-protected ST source files can also be exported in XML format. The ST source
files are exported encrypted. When importing the encoded XML files, the know-how
protection, including login and password, remains in place.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 53
Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.9.3 Importing a text file (ASCII) as an ST source file

To import an ASCII file as an ST source file:
1. Select the PROGRAMS folder under the appropriate SIMOTION device in the project
navigator.
2. Select the menu Insert > External source > ST source file.
3. Select the ASCII file to be imported, and click Open to confirm.
The dialog box for inserting an ST source file is displayed.
4. Enter the name of the ST source file and select the additional options (see Insert ST
source file (Page 21)).
The ASCII file is incorporated into the current project directory as an ST source file and can
be opened.

2.3.9.4 Importing XML data into ST source files

Follow these steps to import XML data into an ST source file:
1. If applicable, insert a new ST source file (see Insert ST source file (Page 21)).
2. Select the ST source file in the project navigator.
3. Select the context menu Expert > Import object.
4. Select the XML data to be imported.
The imported XML data overwrites existing data in the selected ST source file. The entire
project is saved and recompiled.

Note
Note that if the XML data to be imported were exported from an ST source file that was
know-how protected, the know-how protection, including login and password, remains in
place while importing the encoded XML files.

2.3.9.5 Printing an ST source file

To print an ST source file:
1. Open the ST source file.
2. Make sure that the cursor is in the ST editor.
3. Select the menu Project > Print.
The program is printed with the name and date.

SIMOTION ST Structured Text

54 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.10 Using an external editor

What external editors can be used?

As an alternative to the default ST editor, you can use any other ASCII editor that supports
the following function:
● External programs (for example, compiler) can be called and run on the active window.
In addition, the editor should be capable of highlighting certain text passages of the ST
source file in color (syntax coloring).

Note
If you use an external editor, the dynamic ST source file menu and its entries are not
available. The corresponding toolbar is also inactive.
It must be possible to start compilation of the ST source file from the external editor.
Status Program continues with the ST editor.

Settings for the use of an external editor

The settings are made in the SCOUT workbench:
1. Select the menu Tools > Settings.
2. Select the ST external editor tab (see figure).
3. Activate the Use external ST editor checkbox.
4. Enter the path of the external editor:
– Click Browse... and select the path and file name of the editor.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 55
Getting Started with ST
2.3 Working with the ST editor and the compiler

Figure 2-19 Settings for the use of an external editor

Making settings in the external editor

The following notes are of a general nature. Compare the operator instructions of the
external editor.
1. Configure the path to the ST compiler in the external editor. The compiler is located in the
STEP7 installation directory s7bin\u7wstcax.exe.
2. Syntax files are supplied for various editors. These enable the editor to highlight text
passages in color (syntax coloring). Copy the syntax file to the relevant directory and
configure the editor accordingly.

Note the following when using an external editor:

CAUTION
Close all windows of the external editor before you close a project or exit SIMOTION
SCOUT. Failure to do so could result in loss of data!

SIMOTION ST Structured Text

56 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.11 ST source file menus

2.3.11.1 ST source file menu

Depending on the active application/editor or the mode (ONLINE/OFFLINE), certain
commands are not displayed or cannot be selected. The menu is only displayed if the ST
editor is active in the working area.
You can select the following functions:

Table 2-9 ST Source File Menu

Function Meaning/Note
Close Select this command to close the active ST source file. In the event of changes, you can
decide whether you want to transfer the changed source file to the project.
Characteristics Select this command to display the properties of the active ST source file. Several tabs
are provided to make local settings for this source.
See: Changing the properties of an ST source file (Page 23).
Accept and compile Choose this command to transfer the current ST source file to the project and compile into
executable code.
See: Starting the compiler (Page 44).
Use preprocessor As an option, the preprocessor scans an ST source file before compiling and can, for
example, replace character strings in the file, which will then be taken into account during
the compilation. You can specifically execute the preprocessor statements with this menu
command.
Export Select this command to export the active ST source file as text file (ASCII).
See: Exporting an ST source file as a text file (ASCII) (Page 53).
Program status On/Off Program status On/Off monitors the current status of the active ST source file. During the
status, the program variable values can be monitored during a program run. The ST editor
is divided into two windows. The right pane displays the current values of the program
variables selected in the ST source file (left pane).
The project and the program must be available in the target system and an ONLINE
connection to the target system must be active.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 57
Getting Started with ST
2.3 Working with the ST editor and the compiler

2.3.11.2 ST source file context menu

Depending on the active application/editor or the mode (ONLINE/OFFLINE), certain
commands are not displayed or cannot be selected.
You can select the following functions:

Table 2-10 ST source file context menu

Function Meaning/Note
Close Close closes the active ST source file.
Cut Select Cut to remove the selected object and save it to the clipboard.
Copy Select Copy to copy the selected object. It is stored in the clipboard.
Inserting Select Paste to insert the contents of the clipboard at the current cursor position.
Deleting Use Delete to delete the current St source file. All data from the ST source file is
permanently deleted.
Rename Use Rename to rename the current ST source file. Please note that with name changes, it
is not possible to change the referencing to this name and that the new name must
comply with the ST conventions
Save variables You can save retain, unit and global variables with this menu command. You can save
these variables from the RAM/ROM memory of the target device and store them on a data
medium as XML file. When these variables are restored, they can be written from the data
medium to the RAM/ROM memory of the target device.
Restore variables You can restore retain, unit and global variables from the previously exported variables
with this menu command. When these variables are restored, they can be written from the
data medium to the RAM/ROM memory of the target device.
Expert
Import object Import object imports the data of an ST source file from another project which was
previously created with a selective XML export.
Save project and export object Use Save project and export object to export selected data of the ST source file in XML
format. This data export can then be reimported into other projects.
Accept and compile Use Accept and compile to save and compile the selected ST source file.
Run preprocessor As an option, the preprocessor scans an ST source file before compiling and can, for
example, replace character strings in the file, which will then be taken into account during
the compilation. You can specifically execute the preprocessor statements with this menu
command.
Program status On/Off Program status On/Off monitors the current status of the active ST source file. During the
status, the program variable values can be monitored during a program run. The ST editor
is divided into two windows. The right pane displays the current values of the program
variables selected in the ST source file (left pane).
The project and the program must be available in the target system and an ONLINE
connection to the target system must be active.
Export Export exports the active ST source file as a file in ST format, e.g. to import the program
to other projects.
Know-how Protection
Set Use Set know-how protection to set know-how protection for ST sources files. The
protected sources can only be opened and modified with the specified log-on and
password.
Deleting Delete know-how protection releases the protected ST source files so that they can be
opened and read without entering a password.
Reference data

SIMOTION ST Structured Text

58 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.4 Creating a sample program

Function Meaning/Note
Create Select Create reference data to create the reference data of the selected ST source file.
The reference data contains information about the designators used, with details of their
declaration, application, function calls and the nesting of these.
Display
Cross references Display cross references displays the cross reference list of the selected ST source file in
the detail view. The reference data must be created before the cross references can be
displayed.
Program structure Select Display program structure to display the program structure of the selected ST
source file in the detail view. Before the program structure can be displayed, the reference
data must first be created.
Print Use Print to print the selected ST source file.
Print preview Select Print preview to preview the page to be printed.
Characteristics Use Properties to display the properties of the active ST source file. This window displays
the name, change date and the storage location.

2.4 Creating a sample program

In this section, we create a short program to illustrate the steps involved, including starting
and testing. Testing is described in Program test (Page 252).

Function
The Flash program sets a bit in an output byte of your target system and rotates it within this
byte. This causes each bit of the output byte to be set and reset in succession. After the last
bit of the byte, the first bit is to be set again. You can observe the result of the program at the
outputs of your target system.

2.4.1 Requirements
To create the sample program, you need
● A SIMOTION project and
● A SIMOTION device (e.g. SIMOTION C240) within the project whose output is configured
at address 62.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 59
Getting Started with ST
2.4 Creating a sample program

2.4.2 Opening or creating a project

Projects contain all the information about the hardware and configuration. This includes the
programs you use to control the hardware.

Proceed as follows
If a project does not yet exist, proceed as follows:
1. Select Project in the menu bar.
2. Select New or Open.
3. Specify a name for a new project, and click OK to confirm.
For details, see the online help.

Figure 2-20 Creating a new project

SIMOTION ST Structured Text

60 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.4 Creating a sample program

2.4.3 Making the hardware known

The steps are as follows:

1. Create and configure a new SIMOTION device (e.g. C240 V4.1).
2. Configure an output in HW Config at Address 62.
For more details on steps 1 and 2, refer to the online help.

Figure 2-21 Change in HW Config

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 61
Getting Started with ST
2.4 Creating a sample program

2.4.4 Entering source text with the ST editor

Proceed as follows
1. In the project navigator, open the tree for your SIMOTION device (programs are assigned
to the SIMOTION device on which they are to run).
2. Select the PROGRAMS folder and choose Insert > Program > ST source file.
3. Enter a name for the ST source file consisting of up to 128 characters (see figure), e.g.
ST_1, and click OK to confirm the entries.
The ST editor appears in the working area. The ST source file ST_1 is inserted in the
navigator.
4. Enter the source text from Source text of the sample program (Page 64), preferably with
indented lines. To do this, press the TAB key.
The features of the ST editor are described in Working with the ST editor (Page 25); the
structure of an ST source file is described in detail in Structure of the ST source
file (Page 86) and in Source file sections (Page 169).
5. Use comments as often as possible. Enter your comment after the // characters if the
comment fits on one line of text. If the comment extends across several lines, insert it
between character pairs (* and *).
6. Save the complete project with Project > Save.

SIMOTION ST Structured Text

62 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.4 Creating a sample program

Figure 2-22 Naming the ST source file

2.4.4.1 Functions of the editor

In addition to simple text input, the ST editor provides the following advanced/convenience
functions for documenting the functionality of your source text:
● Standard Windows user features (for example, Undo with Ctrl+Z or Redo with Ctrl+Y)
● Syntax coloring (different colors for different language elements)
● Source file printout in an appropriate layout with page number, source file name and
printing date
● Export/import of the source file
● Source file archiving (via the project)
A detailed description of the functions is contained in Working with the ST editor (Page 25)
and in Making settings for the compiler (Page 44).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 63
Getting Started with ST
2.4 Creating a sample program

2.4.4.2 Source text of the sample program

The table shows the source code of the sample program. You need to enter it in the same
way to create executable code.

Table 2-11 Flash sample program

INTERFACE
VAR_GLOBAL
counterVar : INT := 1; // counter variable
outputVar : BYTE := 1; // auxiliary tag
END_VAR
PROGRAM Flash;
END_INTERFACE

IMPLEMENTATION
PROGRAM Flash
IF counterVar >= 500 THEN // in every 500th pass
%QB62 := outputVar; // set output byte
outputVar := ROL (in := outputVar, n := 1);
(* // rotate bit in byte
one digit to the left*)
counterVar := 0; // reset counter
END_IF;
counterVar := counterVar + 1; // increment counter
END_PROGRAM
END_IMPLEMENTATION

2.4.5 Compiling a sample program

Before you can run or test your program, you must compile it into executable machine code.
The compiler performs this task.

2.4.5.1 Starting the compiler

Before you can run or test your program, you must compile it into executable machine code.
The ST compiler performs this task.
Start the compiler as follows:
1. Click in the window with the ST editor to display the ST source file menu. This menu is a
dynamic menu and is only displayed if the window of the ST editor is active.
2. Start the compiler by selecting the ST source file > Accept and compile menu command.

SIMOTION ST Structured Text

64 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.4 Creating a sample program

2.4.5.2 Correcting errors

The compiler checks the syntax of the ST source file. The Compile/check output tab of the
detail view displays the successful compilation of the source text or compiler errors. The
error details include: Name of the ST source file, the line number where the error occurred,
the error number and an error description.
Proceed as follows to correct an error in the sample program:
1. Double-click the error message. The cursor is placed at the relevant line in the ST source
file. See Example for error messages (Page 65).
2. Start debugging the first error.
3. Start the compilation operation again.
4. Repeat the entire operation until no more errors are displayed (0 errors).
After a successful compilation, you will have created an application program with the name
flash. This program is displayed in the project navigator below the ST_1 program source file.

2.4.5.3 Example of error messages

Figure 2-23 Error messages during ST source file compilation

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 65
Getting Started with ST
2.4 Creating a sample program

The figure shows an example of compiling the ST source file ST_1 (see Source text of the
sample program (Page 64), in which the following change has been made: The semicolon is
missing in the statement "counterVar := counterVar + 1" at the end of line 18.
The compiler does not detect the error until Line19, because it continues with the compilation
after the missing semicolon.
Once the missing semicolon is added, the ST source file is compiled without errors.
A detailed list of all compiler error messages can be found in Compiler error messages and
their correction (Page 350).

2.4.6 Running the sample program

Before you can run the program, you must assign it to an execution level or task. When you
have done this, you can establish the connection to the target system, download the
program to the target system and then start it.

2.4.6.1 Assigning a sample program to an execution level

The execution levels specify the order in which the programs run. Each execution level
contains one or more tasks to which you can assign programs.
The assignment of a program to a task can only be performed after compilation and before
the program is loaded onto the target system.
Assign the sample program to the BackgroundTask. The BackgroundTask is provided for the
programming of cyclic sequences without a fixed time frame. It is executed cyclically in the
round robin execution level, which means it will be automatically restarted on completion.
How to assign the sample program to the BackgroundTask:
1. When you double-click the Execution system element in the project navigator, the window
containing the execution system and the program assignment appears in the working
area.
2. Click BackgroundTask to select it for the program assignment.
The program assignment on the left side of the window shows you all the compiled
programs that can be assigned to tasks.
3. In the Programs list, click sample program ST_1.flash. Then, click the >> button to assign
the program to the BackgroundTask.
The result is shown in the following figure. The program ST_1.flash is displayed in the
Programs used list box.
For more information on the execution system and assignment of programs to tasks, see
SIMOTION Motion Control Basic Functions Function Description.

SIMOTION ST Structured Text

66 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.4 Creating a sample program

Figure 2-24 Assigning the sample program to the BackgroundTask

2.4.6.2 Establishing a connection to the target system

Before a connection to the target system can be set up, the PC interface card must be
configured and connected to the target system.
Proceed as follows to connect to the target system:
1. Select the Project > Connect to target system menu command.
The Diagnostics overview tab is opened in the detail view. The diagnostics overview
shows you the operating state, memory allocation and CPU utilization for the device you
are connected to. You can see at the lower right edge of the screen that you are
connected to the target system.

Note
For more detailed information, refer to the SIMOTION SCOUT Configuring Manual and
SIMOTION SCOUT online help.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 67
Getting Started with ST
2.4 Creating a sample program

Figure 2-25 Establishing a connection to the target system

SIMOTION ST Structured Text

68 Programming and Operating Manual, 08/2008
 Getting Started with ST
2.4 Creating a sample program

2.4.6.3 Downloading the sample program to the target system

Proceed as follows to download the sample program to the target system:
1. Switch the target system to STOP.
2. Select the Target system > Download > Project to target system menu command.
3. Confirm all further queries.
The Target system output window in the detail view opens and displays the result of the
download.

Figure 2-26 Downloading the sample program to the target system

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 69
Getting Started with ST
2.4 Creating a sample program

2.4.6.4 Starting and testing the sample program

Starting sample program

Proceed as follows to start the sample program:
● Switch your target system to RUN (see hardware description).
The lamps flash in sequence at the outputs of your target system.

Testing a sample program

See Program test (Page 252).

SIMOTION ST Structured Text

70 Programming and Operating Manual, 08/2008
ST Fundamentals 3
This section describes the language resources available in ST and how to use them. Please
note that functions, function blocks and the task control system are described in the following
chapters. For a complete formal language description containing all the syntax diagrams,
see Appendix Rules (Page 307).

3.1 Language description resources

Syntax diagrams are used as a basis for the language description in the following sections of
the manual. They provide you with an invaluable insight into the syntactic (i.e. grammatical)
structure of ST.

3.1.1 Syntax diagram

The syntax diagram is a graphical representation of the language structure. The structure is
described by a sequence of rules. A rule can build on existing rules.

5XOHQDPH

6HTXHQFH

%ORFN

%ORFN %ORFN %ORFN

%ORFN

2SWLRQ ,WHUDWLRQ $OWHUQDWLYH

Figure 3-1 Syntax diagram

The syntax diagram in the previous figure is read from left to right. The following rule
structures must be observed:
● Sequence: Sequence of blocks
● Option: Statement(s) that can be skipped
● Iteration: Repetition of one or more statements
● Alternative: Branch

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 71
ST Fundamentals
3.1 Language description resources

3.1.2 Blocks in syntax diagrams

A block is a basic element or an element that is itself composed of blocks. The figure shows
the symbol types used to represent the blocks:

%ORFNV

%DVLFHOHPHQWUHTXLULQJQRIXUWKHU &RPSRVLWHHOHPHQWWKDWLVGHVFULEHG
H[SODQDWLRQ E\IXUWKHUV\QWD[GLDJUDPV

7KHVHDUHSULQWDEOHFKDUDFWHUVDQGVSHFLDO
FKDUDFWHUVUHVHUYHGZRUGVDQGSUHGHILQHG
LGHQWLILHUV
7KHVSHFLILFDWLRQVLQWKHVHEORFNVVKRXOG
EHDFFHSWHGZLWKRXWPRGLILFDWLRQV

Figure 3-2 Blocks

Formatted and unformatted rules must be observed when entering source text, i.e. when
converting the blocks or elements of a syntax diagram into source text (see Help for the
language description (Page 291)).

See also
Formal Language Description (Page 291)

3.1.3 Meaning of the rules (semantics)

The rules can only represent the formal structure of the language. The meaning (i.e.
semantics) is not always apparent. For this reason, additional information is written beside
the rules if the meaning is critical. Examples are:
● Where elements of the same kind have a different meaning, an additional name is
appended. For example, an addition is specified in the date rule for every decimal digit
string element - either year, month or day (see Literals (Page 308)). The name indicates
the usage.
● Important restrictions are noted next to the rules. For example, in the integer rule for -
(minus), it is noted that the minus can appear only in front of decimal digit strings of data
types SINT, INT, and DINT (see Literals (Page 308)).

See also
Formal Language Description (Page 291)

SIMOTION ST Structured Text

72 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.2 Basic elements of the language

3.2 Basic elements of the language

The basic elements of the ST language include the ST character set, reserved identifiers
constructed from the ST character set (e.g. language commands), self-defined identifiers
and numbers.
The ST character set and the reserved identifiers are basic elements (terminals) as they are
described verbally and not by another rule. Self-defined identifiers and numbers are not
terminals as they are described by other rules.
In the syntax diagrams, terminals are represented by circles or oval symbols, while
composite elements are represented by rectangles (see Blocks in syntax
diagrams (Page 72)). Below is a selection of the main terminals; for a complete overview,
refer to Basic elements (terminals) (Page 294).

3.2.1 ST character set

ST uses the following letters and digits from the ASCII character set:
● The lower and upper case letters from A to Z
● The Arabic digits from 0 to 9
Letters and digits are the most commonly used characters. For example, identifiers (see
Identifiers in ST (Page 73)) consist of a combination of letters, digits and the underscore.
The underscore is one of the special characters.
Special characters have a fixed meaning in ST (see Formal Language
Description (Page 291), Basic elements (terminals) (Page 294)).

3.2.2 Identifiers in ST
Identifiers are names in ST. These names can be defined by the system, such as language
commands. However, the names can also be user-defined, for example, for a constant,
variable or function.

3.2.2.1 Rules for identifiers

Identifiers are made up of letters (A … Z, a … z), numbers (0 … 9) or single underscores (_)
in any order, whereby the first character must be a letter or underscore. No distinction is
made between upper and lower case letters (e.g. Anna and AnNa are considered to be
identical by the compiler).
An identifier can by represented formally by the following syntax diagram:

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 73
ST Fundamentals
3.2 Basic elements of the language

,GHQWLILHU IRUPDWWHG

/HWWHU /HWWHU

B

/HWWHU 'LJLW

B 8QGHUVFRUH

'LJLW /HWWHU$=D]
8QGHUVFRUH ಺'LJLW

Figure 3-3 Syntax: Identifier

When assigning a name, it is best to choose a unique, meaningful name that contributes to
the clarity of the program.
The syntax diagram in the figure says that the first character of an identifier must be a letter
or underscore. An underscore must be followed by a letter or number, i.e. more than one
underscore in succession is not allowed. This can be followed by any number or sequence of
underscores, letters or numbers. The only exception here again is that two underscores may
not appear together.

3.2.2.2 Examples of identifiers

Examples of valid identifiers

The following names are valid identifiers:

x y12 _sum temperature R_CONTROLLER3

name area myFB table

Examples of invalid identifiers

The following names are not valid identifiers:

Invalid identifier Reason

4ter The first character must be a letter or underscore.
*#AB Special characters (except underscores) are not permitted.
RR__20 Two underscores in succession are not permitted.
S value Blank spaces are not permitted as they are special characters.
Array While ARRAY is formally a valid identifier, it is a reserved identifier, i.e. it
may only be used as predefined. This means you cannot use this name for
your own purposes, for example, for a variable.

SIMOTION ST Structured Text

74 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.2 Basic elements of the language

Identifiers that may not be used

Never define identifiers that:
● Are identical to a reserved identifier
For more information, see Reserved identifiers (Page 75).
● Match a task name
For a more detailed explanation, refer to the SIMOTION Basic Functions Function
Manual.

Note
If possible, avoid defining identifiers that begin with _ (underscore), struct, enum or
command.
While these are valid identifiers, their use can cause errors later when you download
(additional) technology packages. Command words, parameters or data types in the
basic system and in technology packages begin with these characters.

3.2.3 Reserved identifiers

Reserved identifiers may only be used as predefined. You may not declare a variable or data
type with the name of a reserved identifier.
There is no distinction between upper and lower case notation.
A list of all identifiers with a predefined meaning can be found in the SIMOTION Basic
Functions Function Manual:
● For more information on protected and reserved identifiers in the ST programming
language,
see also "Protected identifiers (Page 76)" and "Further reserved identifiers (Page 81)"
● For general standard functions and the data types defined in these functions,
see also "Error Sources and Program Test (Page 251)"
● General system function blocks
● System functions, system variables and data types of SIMOTION devices
(see also list manuals of the SIMOTION devices)
● System functions, system variables and data types of technology objects
(see also list manuals of the technology packages)

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 75
ST Fundamentals
3.2 Basic elements of the language

3.2.3.1 Protected identifiers

The protected identifiers of the ST language are listed in the table.
For a brief explanation of all reserved words, please refer to Appendix Reserved
Words (Page 299), and Syntax diagrams (Page 71) in Appendix Rules (Page 307).

Table 3-1 Protected identifiers in ST programming language

A
ABS ANYTYPE_TO_LITTLEBYTEARRAY
ACOS ARRAY
AND AS
ANYOBJECT ASIN
ANYOBJECT_TO_OBJECT AT
ANYTYPE_TO_BIGBYTEARRAY ATAN
B
BIGBYTEARRAY_TO_ANYTYPE BY
BOOL BYTE
BOOL_TO_BYTE BYTE_TO_BOOL
BOOL_TO_DWORD BYTE_TO_DINT
BOOL_TO_WORD BYTE_TO_DWORD
BOOL_VALUE_TO_DINT BYTE_TO_INT
BOOL_VALUE_TO_INT BYTE_TO_SINT
BOOL_VALUE_TO_LREAL BYTE_TO_UDINT
BOOL_VALUE_TO_REAL BYTE_TO_UINT
BOOL_VALUE_TO_SINT BYTE_TO_USINT
BOOL_VALUE_TO_UDINT BYTE_TO_WORD
BOOL_VALUE_TO_UINT BYTE_VALUE_TO_LREAL
BOOL_VALUE_TO_USINT BYTE_VALUE_TO_REAL
C
CASE CTD_UDINT
CONCAT CTU
CONCAT_DATE_TOD CTU_DINT
CONSTANT CTU_UDINT
COS CTUD
CTD CTUD_DINT
CTD_DINT CTUD_UDINT

SIMOTION ST Structured Text

76 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.2 Basic elements of the language

D
DATE DO
DATE_AND_TIME DT
DATE_AND_TIME_TO_DATE DT_TO_DATE
DATE_AND_TIME_TO_TIME_OF_DAY DT_TO_TOD
DELETE DWORD
DINT DWORD_TO_BOOL
DINT_TO_BYTE DWORD_TO_BYTE
DINT_TO_DWORD DWORD_TO_DINT
DINT_TO_INT DWORD_TO_INT
DINT_TO_LREAL DWORD_TO_REAL
DINT_TO_REAL DWORD_TO_SINT
DINT_TO_SINT DWORD_TO_UDINT
DINT_TO_STRING DWORD_TO_UINT
DINT_TO_UDINT DWORD_TO_USINT
DINT_TO_UINT DWORD_TO_WORD
DINT_TO_USINT DWORD_VALUE_TO_LREAL
DINT_TO_WORD DWORD_VALUE_TO_REAL
DINT_VALUE_TO_BOOL
E
ELSE END_REPEAT
ELSIF END_STRUCT
END_CASE END_TYPE
END_EXPRESSION END_VAR
END_FOR END_WAITFORCONDITION
END_FUNCTION END_WHILE
END_FUNCTION_BLOCK ENUM_TO_DINT
END_IF EXIT
END_IMPLEMENTATION EXP
END_INTERFACE EXPD
END_LABEL EXPRESSION
END_PROGRAM EXPT
F
F_TRIG FOR
FALSE FUNCTION
FIND FUNCTION_BLOCK
G
GOTO

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 77
ST Fundamentals
3.2 Basic elements of the language

I
IF INT_TO_SINT
IMPLEMENTATION INT_TO_TIME
INSERT INT_TO_UDINT
INT INT_TO_UINT
INT_TO_BYTE INT_TO_USINT
INT_TO_DINT INT_TO_WORD
INT_TO_DWORD INT_VALUE_TO_BOOL
INT_TO_LREAL INTERFACE
INT_TO_REAL
L
LABEL LREAL_TO_REAL
LEFT LREAL_TO_SINT
LEN LREAL_TO_STRING
LIMIT LREAL_TO_UDINT
LITTLEBYTEARRAY_TO_ANYTYPE LREAL_TO_UINT
LN LREAL_TO_USINT
LOG LREAL_VALUE_TO_BOOL
LREAL LREAL_VALUE_TO_BYTE
LREAL_TO_DINT LREAL_VALUE_TO_DWORD
LREAL_TO_INT LREAL_VALUE_TO_WORD
G
MAX MOD
MID MUX
MIN
N
NOT
O
OF OR
P
PROGRAM

SIMOTION ST Structured Text

78 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.2 Basic elements of the language

R
R_TRIG REAL_VALUE_TO_BYTE
REAL REAL_VALUE_TO_DWORD
REAL_TO_DINT REAL_VALUE_TO_WORD
REAL_TO_DWORD REPEAT
REAL_TO_INT REPLACE
REAL_TO_LREAL RETAIN
REAL_TO_SINT RETURN
REAL_TO_STRING RIGHT
REAL_TO_TIME ROL
REAL_TO_UDINT ROR
REAL_TO_UINT RS
REAL_TO_USINT RTC
REAL_VALUE_TO_BOOL
S
SEL SINT_TO_WORD
SHL SINT_VALUE_TO_BOOL
SHR SQRT
SIN SR
SINT STRING
SINT_TO_BYTE STRING_TO_DINT
SINT_TO_DINT STRING_TO_LREAL
SINT_TO_DWORD STRING_TO_REAL
SINT_TO_INT STRING_TO_UDINT
SINT_TO_LREAL STRUCT
SINT_TO_REAL StructAlarmId
SINT_TO_UDINT STRUCTALARMID_TO_DINT
SINT_TO_UINT StructTaskId
SINT_TO_USINT
T
TAN TOD
THEN TOF
TIME TON
TIME_OF_DAY TP
TIME_TO_INT TRUE
TIME_TO_REAL TRUNC
TO TYPE

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 79
ST Fundamentals
3.2 Basic elements of the language

U
UDINT UINT_TO_UDINT
UDINT_TO_BYTE UINT_TO_USINT
UDINT_TO_DINT UINT_TO_WORD
UDINT_TO_DWORD UINT_VALUE_TO_BOOL
UDINT_TO_INT UNIT
UDINT_TO_LREAL UNTIL
UDINT_TO_REAL USELIB
UDINT_TO_SINT USEPACKAGE
UDINT_TO_STRING USES
UDINT_TO_UINT USINT
UDINT_TO_USINT USINT_TO_BYTE
UDINT_TO_WORD USINT_TO_DINT
UDINT_VALUE_TO_BOOL USINT_TO_DWORD
UINT USINT_TO_INT
UINT_TO_BYTE USINT_TO_LREAL
UINT_TO_DINT USINT_TO_REAL
UINT_TO_DWORD USINT_TO_SINT
UINT_TO_INT USINT_TO_UDINT
UINT_TO_LREAL USINT_TO_UINT
UINT_TO_REAL USINT_TO_WORD
UINT_TO_SINT USINT_VALUE_TO_BOOL
V
VAR VAR_OUTPUT
VAR_GLOBAL VAR_TEMP
VAR_IN_OUT VOID
VAR_INPUT
W
WAITFORCONDITION WORD_TO_INT
WHILE WORD_TO_SINT
WITH WORD_TO_UDINT
WORD WORD_TO_UINT
WORD_TO_BOOL WORD_TO_USINT
WORD_TO_BYTE WORD_VALUE_TO_LREAL
WORD_TO_DINT WORD_VALUE_TO_REAL
WORD_TO_DWORD
X
XOR

SIMOTION ST Structured Text

80 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.2 Basic elements of the language

3.2.3.2 Additional reserved identifiers

The table contains additional reserved identifiers that are reserved for future expansions.

Table 3-2 Additional reserved identifiers of the ST language

A
ACTION ADD_TIME
ADD ADD_TOD_TIME
ADD_DT_TIME
B
BCD_TO_BYTE BCD_TO_LWORD
BCD_TO_DINT BCD_TO_SINT
BCD_TO_DWORD BCD_TO_WORD
BCD_TO_INT BYTE_TO_BCD
C
CONFIGURATION CTU_ULINT
CTD_LINT CTUD_LINT
CTD_ULINT CTUD_ULINT
CTU_LINT
D
DINT_TO_BCD DIVTIME
DIV DWORD_TO_BCD
E
EN END_STEP
END_ACTION END_TRANSITION
END_CONFIGURATION ENO
END_RESOURCE EQ
F
F_EDGE FROM
G
GE GT
I
INITIAL_STEP INT_TO_BCD
L
LE LWORD
LINT LWORD_TO_BCD
PM
G
MUL MULTIME
N
MS
R
R_EDGE RESOURCE

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 81
ST Fundamentals
3.2 Basic elements of the language

S
SEMA SUB_DT_DT
SINT_TO_BCD SUB_DT_TIME
STEP SUB_TIME
SUB SUB_TOD_TIME
SUB_DATE_DATE SUB_TOD_TOD
T
TRANSITION
U
ULINT
V
VAR_ACCESS VAR_EXTERNAL
VAR_ALIAS VAR_OBJECT
W
WORD_TO_BCD

3.2.4 Numbers and Boolean values

Numbers can be written in various ways in ST. A number can contain a sign, a decimal point
or an exponent. The following rules apply to all numbers:
● Commas and blanks may not appear within a number.
● An underscore ( _ ) is allowed as a visual separator.
● The number can be preceded by a plus ( + ) or minus ( – ). If no sign is used, it is
assumed that the number is positive.
● Numbers may not violate certain maximum and minimum values.

3.2.4.1 Integers
An integer contains neither a decimal point nor an exponent. An integer is thus a sequence
of numeric digits that can be preceded with a sign.
The following are valid integers:

0 1 +1 -1
743 -5280 60_000 -32_211_321

The following integers are invalid for the reasons indicated:

123,456 Commas are not permitted.

36. An integer may not contain a decimal point.
10 20 30 Blanks are not permitted.

SIMOTION ST Structured Text

82 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.2 Basic elements of the language

In ST, you can represent integers in different number systems. This is achieved by inserting
a keyword prefix for the number system.
The following are used:
● 2# for the binary system
● 8# for the octal system
● 16# for the hexadecimal system.
Valid representations of the decimal number 15 are:

2#1111 8#17 16#F

3.2.4.2 Floating-point numbers

A floating-point number can contain a decimal point or an exponent (or both). A decimal
point must appear between two digits. A floating-point number therefore cannot start or end
with a decimal point.
The following are valid floating-point numbers:

0.0 1.3 -0.2 827.602

0000.0 +0.000743 60_000.15 -315.0066

The following floating-point numbers are invalid:

1. A numeric digit must be present before the decimal point and after the
decimal point.
1,000.0 Commas are not permitted.
1.333.333 Two points are not permitted.

3.2.4.3 Exponents
An exponent can be included to define the position of the decimal point. If no decimal point
appears, it is assumed that it is on the right side of the digit. The exponent itself must be
either a positive or negative integer. Base 10 is expressed by the letter E.
The magnitude 3 x 108 can be represented in ST by the following correct floating-point
numbers:

3.0E+8 3.0E8 3e+8 3E8 0.3E+9

0.3e9 30.0E+7 30e7

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 83
ST Fundamentals
3.2 Basic elements of the language

The following floating-point numbers are invalid:

3.E+8 A numeric digit must be present before the decimal point and after the decimal
point.
8e2.3 The exponent must be an integer.
.333e-3 A numeric digit must be present before the decimal point and after the decimal
point.
30 E8 Blanks are not permitted.

3.2.4.4 Boolean values

Boolean values are bit constants. They must be represented by a value of zero (0) or one (1)
or by the keywords FALSE or TRUE.
Example:

a := 1; // is equivalent a := TRUE
b := FALSE; // is equivalent to b := 0

3.2.4.5 Data types of numbers

The compiler automatically selects the elementary data type that is suitable for the number
depending on its value and use (in an expression or a value assignment).
You can also specify the data type directly: Place the data type (numeric data type or bit data
type) and the character "#" in front of the number.
Examples:

INT#255 INT#16#FF INT#8#377

WORD#255 WORD#16#FF WORD#8#377
REAL#255 REAL#16#FF REAL#8#377
REAL#255.0 REAL#2.55E2 LREAL#255.0

Note
Floating-point numbers can only be assigned to data types REAL and LREAL.

SIMOTION ST Structured Text

84 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.2 Basic elements of the language

3.2.5 Character strings

What is a character string?

A character string is a sequence of zero or more characters with an apostrophe at the start
and at the end. Each character is encoded with 1 byte (8 bits) in the string.
A character can be entered as follows:
● As printable characters (ASCII code $20 to $7E, $80 to $FF), except the dollar signs
(ASCII code $24) and apostrophe (ASCII code $27), as these have a special function
within the string
● As the 2-digit hexadecimal ASCII code of the relevant character preceded by the dollar
sign ($)
● As a combination of two characters according to the following table:

Table 3-3 2-character combinations for special characters in strings

Character combination Meaning

$$ Dollar sign $ ($24)
$’ Apostrophe ’ ($27)
$L or $l Line Feed LF ($0A)
$N or $n Carriage Return + Line Feed CR + LF ($0D$0A)
$P or $p Form Feed FF ($0C)
$R or $r Carriage Return CR ($0D)
$T or $t Horizontal tab (HT) ($09)

Examples:

’’ Empty string (length 0).

’A’ String of length 1 containing the letter A.
’ ’ String of length 1 containing a blank.
’$’’ String of length 1 containing an apostrophe.
’$R$L’ Two equivalent representations for a string of length 2 containing the characters
’$0D$0A’ CR and LF.
’$$1.00’ String of length 5 containing $1.00.
’Text$R$L’ String of length 6 containing the word Text followed by the characters CR and LF.
’ÄÖÜ’ Two equivalent representations for a string of length 3 containing the German
’$C4$D6$FC’ umlauts ÄÖü (A, O, u with diaresis).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 85
ST Fundamentals
3.3 Structure of an ST source file

3.3 Structure of an ST source file

An ST source basically consists of continuous text. This text can be structured by dividing it
into logical sections. Detailed rules for this can be found in Source file sections (Page 169).
A brief summary is given below:
● An ST source file is a logical unit that you create in your project and that can appear
several times. It is often referred to as a unit.
● The logic sections of an ST source file are called Sections (see table).
● A user program is the sum of all program sources (e.g. ST source files, MCC units).
Each logical section of the ST source file has a beginning and end denoted by specific
keywords:

67VRXUFHILOH

67VRXUFHILOH
6RXUFHILOHVHFWLRQ

6HFWLRQVWDUW FUNCTION Test1 : REAL

VAR CONSTANT
'HFODUDWLRQ PI : REAL := 3.1415;
VHFWLRQ END _ VAR
6RXUFHILOH VAR _ INPUT
VHFWLRQV r1 : REAL;
END _ VAR

6WDWHPHQW Test1 := PI * r1 * r1;

VHFWLRQ :
:
6HFWLRQHQG END _ FUNCTION

Figure 3-4 Structure of an ST source file

You do not have to program every function yourself. You can also make use of SIMOTION
system components. These are preprogrammed sections such as system functions or the
functions of the technology objects (TO functions).

SIMOTION ST Structured Text

86 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.3 Structure of an ST source file

Table 3-4 Major sections of an ST source file

Source file section Description

Unit statement (optional) Contains the name of the ST
Interface section Contains statements for importing and exporting
variables, types and program organization units (POUs).
Implementation section Contains executable sections of the ST source file.
POU (program organization unit) Single executable section of the ST source file (program,
function, function block)
Declaration section Contains declarations (e.g. of variables and types), can
be included in the interface section and the
implementation section as well as in a POU.
Statement section Contains executable statements of a POU.

Note
An extensively annotated template for example unit is also available in the online Help. You
can use it as a template for a new ST source file.
Call the ST editor Help and click the relevant link. Copy the text to the open window of the
ST editor and modify the template according to your requirements.
Template for example unit contains a copy of this template.

3.3.1 Statements
The statement section of a program organization unit (POU – program, function, function
block) consists of repeated single statements. It follows the declaration section of a POU and
ends with the end of the POU. There are no explicit keywords for the start and end.
There are three basic types of statements in ST:
● Value assignments
Assignment of an expression to a variable, see Variable declaration (Page 105)
● Control statements
Repetition or branching of statements, see Control statements (Page 130)
● Subroutine execution
Functions (FC) and function blocks (FB), see Functions, Function Blocks, and
Programs (Page 147)

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 87
ST Fundamentals
3.3 Structure of an ST source file

Table 3-5 Examples of statements

...
// Value assignment
Status := 17;

// Control statement
IF a = b THEN
FOR c := 1 TO 10 DO
b := b + c;
END_FOR;
END_IF;

// Function call
retVal := Test1(10.0);
...

3.3.2 Comments
Comments are used for documentation purposes and to help the user understand the source
file section. After compilation, they have no meaning for the program execution.
There are two types of comments:
● Line comment
● Block comment
The line comment is preceded by //. The compiler will process the text which follows until the
end of the line as a comment.
You can enter a block comment over several lines if it is preceded by (* and ends with *).
Please note the following when inserting comments:
● You can use the complete extended ASCII character set in comments.
● The character pairs (* and *) are ignored within the line comment.
● Nesting of block comments is not allowed. However, you can nest line comments in block
comments.
● Comments can be inserted at any position, but not in rules that have to be maintained,
such as in names of identifiers. For more information about these rules, refer to
Language description resources (Page 291).

Table 3-6 Examples of comments

// This is a one-line comment.

a := 5;

// This is an example of a one-line comment

// used several times in succession.
b := 23;

(* The above example is easier to edit as a

multi-line comment.
*)
c := 87;

SIMOTION ST Structured Text

88 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.4 Data types

3.4 Data types

A data type is used to determine how the value of a variable or constant is to be used in a
program source.
The following data types are available to the user:
● Elementary data types
● User-defined data types (UDT)
– Simple derivatives
– Arrays
– Enumerators
– Structures (Struct)
● Technology object data types
● System data types

See also
Elementary data types (Page 90)
Description of the technology object data types (Page 101)
System data types (Page 104)

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 89
ST Fundamentals
3.4 Data types

3.4.1 Elementary data types

3.4.1.1 Elementary data types

Elementary data types define the structure of data that cannot be broken down into smaller
units. An elementary data type describes a memory area with a fixed length and stands for
bit data, integers, floating-point numbers, duration, time, date and character strings.
All the elementary data types are listed in the table below:

Table 3-7 Bit widths and value ranges of the elementary data types

Type Reserv. word Bit width Range of values

Bit data type
Data of this type use either 1 bit, 8 bits, 16 bits or 32 bits. The initialization value of a variable of this data type is 0.
Bit BOOL 1 0, 1 or FALSE, TRUE
Byte BYTE 8 16#0 to 16#FF
Word WORD 16 16#0 to 16#FFFF
Double word DWORD 32 16#0 to 16#FFFF_FFFF
Numeric types
These data types are available for processing numeric values. The initialization value of a variable of this data type is 0 (all
integers) or 0.0 (all floating-point numbers).
Short integer SINT 8 -128 to 127 (-2**7 to 2**7-1)
Unsigned short integer USINT 8 0 to 255 (0 to 2**8-1)
Integer INT 16 -32_768 to 32_767 (-2**15 to 2**15-1)
Unsigned integer UINT 16 0 to 65_535 (0 to 2**16-1)
Double integer DINT 32 -2_147_483_648 to 2_147_483_647 (-2**31 to 2**31-1)
Unsigned double UDINT 32 0 to 4_294_96_7295 (0 to 2**32-1)
integer
Floating-point number REAL 32 -3.402_823_466E+38 to -1.175_494_351E−38,
(per IEEE -754) 0.0,
+1.175_494_351E−38 to +3.402_823_466E+38
Accuracy:
23-bit mantissa (corresponds to 6 decimal places), 8-bit
exponent, 1-bit sign.
Long floating-point LREAL 64 -1.797_693_134_862_315_8E+308 to
number -2.225_073_858_507_201_4E−308,
(in accordance with 0.0,
IEEE-754) +2.225_073_858_507_201_4E−308 to
+1.797_693_134_862_315_8E+308
Accuracy:
52-bit mantissa (corresponds to 15 decimal places), 11-bit
exponent, 1-bit sign.

SIMOTION ST Structured Text

90 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.4 Data types

Type Reserv. word Bit width Range of values

Time types
These data types are used to represent various date and time values.
Duration in increments TIME 32 T#0d_0h_0m_0s_0ms to T#49d_17h_2m_47s_295ms
of 1 ms Maximum of two digits for the values day, hour, minute,
second and a maximum of three digits for milliseconds
Initialization with T#0d_0h_0m_0s_0ms
Date in increments of 1 DATE 32 D#1992-01-01 to D#2200-12-31
day Leap years are taken into account, year has four digits,
month and day are two digits each
Initialization with D#0001-01-01
Time of day in steps of TIME_OF_DAY 32 TOD#0:0:0.0 to TOD#23:59:59.999
1 ms (TOD) Maximum of two digits for the values hour, minute, second
and maximum of three digits for milliseconds
Initialization with TOD#0:0:0.0
Date and time DATE_AND_TI 64 DT#1992-01-01-0:0:0.0 to DT#2200-12-31-23:59:59.999
ME DATE_AND_TIME consists of the data types DATE and
(DT) TIME
Initialization with DT#0001-01-01-0:0:0.0
String type
Data of this type represents character strings, in which each character is encoded with the specified number of bytes.
The length of the string can be defined at the declaration. Indicate the length in "[" and "]", e.g. STRING[100]. The default
setting consists of 80 characters.
The number of assigned (initialized) characters can be less than the declared length.
String with 1 STRING 8 All characters with ASCII code $00 to $FF are permitted.
byte/character Default ’ ’ (empty string)

NOTICE
During variable export to other systems, the value ranges of the corresponding data types
in the target system must be taken into account.

6WULQJGDWDW\SH XQIRUPDWWHG

675,1*

> &RQVWDQWH[SUHVVLRQ @

&KDUDFWHUVWULQJOHQJWK
,17GDWDW\SHYDOXH
'HIDXOW

Figure 3-5 Syntax: STRING data type

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 91
ST Fundamentals
3.4 Data types

3.4.1.2 Value range limits of elementary data types

The value range limits of certain elementary data types are available as constants.

Table 3-8 Symbolic constants for the value range limits of elementary data types

Symbolic constant Data type Value Hex notation

SINT#MIN SINT -128 16#80
SINT#MAX SINT 127 16#7F
INT#MIN INT -32768 16#8000
INT#MAX INT 32767 16#7FFF
DINT#MIN DINT -2147483648 16#8000_0000
DINT#MAX DINT 2147483647 16#7FFF_FFFF
USINT#MIN USINT 0 16#00
USINT#MAX USINT 255 16#FF
UINT#MIN UINT 0 16#0000
UINT#MAX UINT 65535 16#FFFF
UDINT#MIN UDINT 0 16#0000_0000
UDINT#MAX UDINT 4294967295 16#FFFF_FFFF
T#MIN TIME T#0ms 16#0000_00001
TIME#MIN
T#MAX TIME T#49d_17h_2m_47s_295ms 16#FFFF_FFFF1
TIME#MAX
TOD#MIN TOD TOD#00:00:00.000 16#0000_00001
TIME_OF_DAY#MIN
TOD#MAX TOD TOD#23:59:59.999 16#0526_5BFF1
TIME_OF_DAY#MAX
1 Internal display only

3.4.1.3 General data types

General data types are often used for the input and output parameters of system functions
and system function blocks. The subroutine can be called with variables of each data type
that is contained in the general data type.
The following table lists the available general data types:

Table 3-9 General data types

General data type Data types contained

ANY_BIT BOOL, BYTE, WORD, DWORD
ANY_INT SINT, INT, DINT, USINT, UINT, UDINT
ANY_REAL REAL, LREAL
ANY_NUM ANY_INT, ANY_REAL
ANY_DATE DATE, TIME_OF_DAY (TOD), DATE_AND_TIME (DT)
ANY_ELEMENTARY ANY_BIT, ANY_NUM, ANY_DATE, TIME, STRING
ANY ANY_ELEMENTARY, user-defined data types (UDT), system data types,
data types of the technology objects

SIMOTION ST Structured Text

92 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.4 Data types

Note
You cannot use general data types as type identifiers in variable or type declarations.
The general data type is retained when a user-defined data type (UDT) is derived directly
from an elementary data type (only possible with the SIMOTION ST programming language).

3.4.1.4 Elementary system data types

In the SIMOTION system, the data types specified in the table are treated similarly to the
elementary data types. They are used with many system functions.

Table 3-10 Elementary system data types and their use

Identifier Bit width Use

StructAlarmId 32 Data type of the alarmId for the project-wide unique identification of
the messages. The alarmId is used for the message generation.
See Function Manual SIMOTION Basic Functions.
Initialization with STRUCTALARMID#NIL
StructTaskId 32 Data type of the taskId for the project-wide unique identification of the
tasks in the execution system.
See Function Manual SIMOTION Basic Functions.
Initialization with STRUCTTASKID#NIL

Table 3-11 Symbolic constants for invalid values of elementary system data types

Symbolic constant Data type Significance

STRUCTALARMID#NIL StructAlarmId Invalid AlarmId
STRUCTTASKID#NIL StructTaskId Invalid TaskId

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 93
ST Fundamentals
3.4 Data types

3.4.2 User-defined data types

3.4.2.1 User-defined data types

User-defined data types (UDT) are created with the construct TYPE/END_TYPE in the
declaration sections of subsequent source file sections (see Structure of an ST source
file (Page 86) and Source file sections (Page 169)) of the following:
● Interface section
● Implementation section
● Program organization unit (POU)
You can continue to use the data types you created in the declaration section. The source
file section determines the range of the type declaration.

See also
Syntax of user-defined data types (type declaration) (Page 95)
Derivation of elementary or derived data types (Page 96)
Derived data type ARRAY (Page 97)
Derived data type - Enumerator (Page 99)
Derived data type STRUCT (structure) (Page 100)

SIMOTION ST Structured Text

94 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.4 Data types

3.4.2.2 Syntax of user-defined data types (type declaration)

8VHUGHILQHGGDWDW\SHVಥ8'7 XQIRUPDWWHG

7<3( ,GHQWLILHU 

8'7LGHQWLILHU

'DWDW\SH

$55$<
GDWDW\SH   ,QLWLDOL]DWLRQ  (1'B7<3(
VSHFLILFDWLRQ

(QXPHUDWRU
಺GDWDW\SH
VSHFLILFDWLRQ

6758&7
GDWDW\SH
VSHFLILFDWLRQ

Figure 3-6 Syntax: User-defined data type

The declaration of the UDT is introduced with the keyword TYPE.

For each data type to be declared, this is followed by (see figure):
1. Name:
The name of the data type must comply with the rules for identifiers.
2. Data type specification
The term data type comprises (see Derivation of elementary or derived data
types (Page 96)):
– Elementary data types
– Previously declared UDTs
– TO data types
– System data types
The following data type specifications are also possible:
– ARRAY data type specification (see Derived data type ARRAY - field (Page 97))
– Enumerator data type specification (see Derived data type enumerator (Page 99))
– STRUCT data type specification (see Derived data type STRUCT –
structure (Page 100))
The references in brackets refer to the following sections, in which the respective data
type specification is described in detail.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 95
ST Fundamentals
3.4 Data types

3. Optional initialization:
You can specify an initialization value for the data type. If you subsequently declare a
variable of this data type, the initialization value is assigned to the variable.
Exception: With the STRUCT data type specification, each individual component is
initialized within the data type specification.
See also Initialization of variables or data types (Page 107).
The complete UDT declaration is terminated with the keyword END_TYPE. You can create
any number of data types within the TYPE/END_TYPE construct. You can use the defined
data types to declare variables or parameters.
UDTs can be nested in any way as long as the syntax in the figure is observed. For example,
you can use previously defined UDTs or nested structures as a data type specification. Type
declarations can only be used sequentially and not in nested structures.

Note
You can learn how to declare variables and parameters in Overview of all variable
declarations (Page 106), and how to assign values with UDT in Syntax for value
assignment (Page 113).

Below is a description of individual data type specifications for UDTs and examples
demonstrating their use.

3.4.2.3 Derivation of elementary or derived data types

In the derivation of data types, an elementary or user-defined data type (UDT) is assigned to
the data type to be defined in the TYPE/END_TYPE construct:
TYPE identifier : Elementary data type { := initialization } ; END_TYPE
TYPE identifier : User-defined data type { := initialization } ; END_TYPE
Once you have declared the data type, you can define variables of derived data type
identifier. This is equivalent to declaring variables as data type elementary data type.

Table 3-12 Examples of derivation of elementary data types

TYPE
I1: INT; // Elementary data type
R1: REAL; // Elementary data type
R2: R1; // Derived data type (UDT)
END_TYPE
VAR
// These variables can be used wherever
// variables of type INT can be used.
myI1 : I1;
myI2 : INT; // No derived data type!

// These variables can be used wherever

// variables of type REAL can be used.
myR1 : R1;
myR2 : R2;
END_VAR
myI1 := 1;
myI2 := 2;
myR1 := 2.22;
myR2 := 3.33;

SIMOTION ST Structured Text

96 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.4 Data types

3.4.2.4 Derived data type ARRAY

The ARRAY derived data type combines a defined number of components of the same data
type in the TYPE/END_TYPE construct. The syntax diagram in the following figure shows
this data type, which is specified more precisely after the reserved identifier OF.
TYPE identifier : ARRAY data type specification { := initialization } ; END_TYPE

$55$<GDWDW\SHVSHFLILFDWLRQ XQIRUPDWWHG

,QGH[VSHFLILFDWLRQ

$55$< > &RQVWDQWH[SUHVVLRQ  &RQVWDQWH[SUHVVLRQ @

',17GDWDW\SH ',17GDWDW\SH

2) 'DWDW\SH

Figure 3-7 Syntax: ARRAY data type specification

The index specification describes the limits of the array:

● The array limits specify the minimum and maximum value for the index. They can be
specified using constants or constant expressions; the data type is DINT (or can be
implicitly converted to DINT – see Elementary data type conversion (Page 141)).
● The array limits must be separated by two periods.
● The entire index specification is enclosed in square brackets.
● The index itself can be an integer value of data type DINT (or it can be implicitly
converted to DINT – see Elementary data type conversion (Page 141)).

Note
If array limits are violated during runtime, a processing error occurs in the program (see
SIMOTION Basic Functions Function Manual).

You declare the data type of the array components with the data type specification. All of the
options described in this chapter can be used as data types, for example, even user-defined
data types (UDT).
There are several different ARRAY types:
● The one-dimensional ARRAY type is a list of data elements arranged in ascending order.
● The two-dimensional ARRAY type is a table of data consisting of lines and columns. The
first dimension refers to the line number, the second to the column number.
● The higher-dimensional ARRAY type is an expansion of the two-dimensional ARRAY
type that includes additional dimensions.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 97
ST Fundamentals
3.4 Data types

Table 3-13 Examples of one-dimensional arrays

TYPE
x : ARRAY[0..9] OF REAL;
y : ARRAY[1..10] OF C1;
END_TYPE

Two-dimensional arrays are comparable to a table with lines and columns. You can create
two- or multi-dimensional arrays by means of a multi-level type declaration, see example:

Table 3-14 Examples of multi-dimensional arrays

TYPE
a : ARRAY[1..3] OF INT; // one-dimensional array (3 columns):
matrix1: ARRAY[1..4] OF a; // two-dimensional Field
// (4 lines with 3 columns)
b: ARRAY[4..8] OF INT; // one-dimensional array (5 columns):
matrix2: ARRAY[10..16] OF b; // two-dimensional Field
// (7 lines with 5 columns)
END_TYPE

VAR
m: matrix1; // Variable m of data type two-dim. Field
n: matrix2; // Variable m of data type two-dim. Field
END_VAR

m[4][3] := 9; // Write to Matrix1 at line 4, column 3

n[16][8] := 10; // Write to Matrix2 at line 7, column 5

In the example, you can define:

1. Table columns a[1] to a[3] as a one-dimensional array that will contain integers.
2. Table lines matrix1[1] to matrix2[4] also as an array but take as the data type
specification the array a you just created with the columns of the table.
When you specify an array in the data type specification, you create a second dimension.
You can create further dimensions in this way.
Now declare a variable using the data type created for the table. You address each
dimension of the table using square brackets, in this case specifying the line and column.

SIMOTION ST Structured Text

98 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.4 Data types

3.4.2.5 Derived data type - Enumerator

In the case of enumerator data types, a restricted set of identifiers or names is assigned to
the data type to be defined in the TYPE/END_TYPE construct:
TYPE identifier : Enumerator data type specification { := initialization } ; END_TYPE

(QXPHUDWRUGDWDW\SHVSHFLILFDWLRQ XQIRUPDWWHG

(QXPHUDWRUHOHPHQW

 ,GHQWLILHU 



Figure 3-8 Syntax: Enumerator data type specification

Once you have declared the identifier data type, you can define variables in the enumerator
data type. In the statement section, you can assign only elements from the list of defined
identifiers (enumerator elements) to these variables.
You can also specify the data type directly: Place the enumerator data type identifier and the
"#" sign in front of the enumerator element (see Table Examples of enumerator data types).
You can obtain the first and last value of an enumeration data type with enum_type#MIN and
enum_type#MAX respectively, whereby enum_type is the enumeration data type identifier.
You can obtain the numeric value of an enumeration element with the ENUM_TO_DINT
conversion function.

Table 3-15 Examples of enumerator data types

TYPE
C1: (RED, GREEN, BLUE);
END_TYPE

VAR
myC11, myC12, myC13 : C1;
END_VAR

myC11 := GREEN;
myC1l := C1#GREEN;
myC12 := C1#MIN; // RED
myC13 := C1#MAX; // BLUE

Note
You will also find enumerator data types as system data types.
Enumerator data types can be components of a structure, meaning that they can be found at
any lower level in the user-defined data structure.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 99
ST Fundamentals
3.4 Data types

3.4.2.6 Derived data type STRUCT (structure)

The derived data type STRUCT, or structure, encompasses an area of a fixed number of
components in the TYPE/END_TYPE construct; the data types of these components can
vary:
TYPE identifier : STRUCT data type specification; END_TYPE

6758&7GDWDW\SHVSHFLILFDWLRQ XQIRUPDWWHG

&RPSRQHQWV
6758&7 GHFODUDWLRQ (1'B6758&7 

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B6758&7NH\ZRUGZLWKDVHPLFRORQ

Figure 3-9 Syntax: STRUCT data type specification

The syntax of the component declaration is shown in the following figure.

&RPSRQHQWGHFODUDWLRQ XQIRUPDWWHG

,GHQWLILHU  'DWDW\SH   ,QLWLDOL]DWLRQ 

,GHQWLILHURIWKH
FRPSRQHQW
$55$<
GDWDW\SH
VSHFLILFDWLRQ

Figure 3-10 Syntax: Component declaration

The following are permitted as data types:

● Elementary data types
● Previously declared UDTs
● System data types
● TO data types
● ARRAY data type specification
You also have the option to assign initialization values to the components. Proceed as for
the initialization of variables or data types (see Initialization of variables or data
types (Page 107)).

SIMOTION ST Structured Text

100 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.4 Data types

Note
The following data specifications cannot be used directly within a component declaration:
• STRUCT data type specifications
• Enumerator data type specifications
Solution: Declare a UDT (user-defined data type) beforehand with the above-mentioned
specifications and use this in the component declaration.
This allows you to nest STRUCT data types.
You will also find STRUCT data types as system data types.

This example shows how a UDT is defined and how this data type is used within a variable
declaration.

Table 3-16 Examples of derived data type STRUCT

TYPE // UDT definition
S1: STRUCT
var1 : INT;
var2 : WORD := 16#AFA1;
var3 : BYTE := 16#FF;
var4 : TIME := T#1d_1h_10m_22s_2ms;
END_STRUCT;
END_TYPE

VAR
myS1 : S1;
END_VAR

myS1.var1 := -4;
myS1.var4 := T#2d_2h_20m_33s_2ms;

3.4.3 Technology object data types

3.4.3.1 Description of the technology object data types

You can declare variables with the data type of a technology object (TO). The following table
shows the data types for the available technology objects in the individual technology
packages.
For example, you can declare a variable with the data type posaxis and assign it an
appropriate instance of a position axis. Such a variable is often referred to as a reference.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 101
ST Fundamentals
3.4 Data types

Table 3-17 Data types of technology objects (TO data type)

Technology object Data type Contained in the technology

package
Drive axis driveAxis CAM1 2, PATH, CAM_EXT
External encoder externalEncoderType CAM1 2, PATH, CAM_EXT
Measuring input measuringInputType CAM1 2, PATH, CAM_EXT
Output cam outputCamType CAM1 2, PATH, CAM_EXT
Cam track (as of V3.2) _camTrackType CAM, PATH, CAM_EXT
Position axis posAxis CAM1 3, PATH, CAM_EXT
Following axis followingAxis CAM1 4, PATH, CAM_EXT
Following object followingObjectType CAM1 4, PATH, CAM_EXT
Cam camType CAM, PATH, CAM_EXT
Path axis (as of V4.1) _pathAxis PATH, CAM_EXT
Path object (as of V4.1) _pathObjectType PATH, CAM_EXT
Fixed gear (as of V3.2) _fixedGearType CAM_EXT
Addition object (as of V3.2) _additionObjectType CAM_EXT
Formula object (as of V3.2) _formulaObjectType CAM_EXT
Sensor (as of V3.2) _sensorType CAM_EXT
Controller object (as of V3.2) _controllerObjectType CAM_EXT
Temperature channel temperatureControllerType TControl
General data type, ANYOBJECT
to which every TO can be
assigned
1) As of Version V3.1, the BasicMC, Position and Gear technology packages are no longer
contained.
2) For Version V3.0, also contained in the BasicMC, Position and Gear technology packages.
3) For Version V3.0, also contained in the Position and Gear technology packages.
4) For Version V3.0, also contained in the Gear technology package.
You can access the elements of technology objects (configuration data and system
variables) via structures (see SIMOTION Basic Functions Function Manual).

Table 3-18 Symbolic constants for invalid values of technology object data types

Symbolic constant Data type Meaning

TO#NIL ANYOBJECT Invalid technology object

See also
Inheritance of the properties for axes (Page 103)
Examples of the use of technology object data types (Page 103)

SIMOTION ST Structured Text

102 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.4 Data types

3.4.3.2 Inheritance of the properties for axes

Inheritance for axes means that all of the data types, system variables and functions of the
TO driveAxis are fully included in the TO positionAxis. Similarly, the position axis is fully
included in the TO followingAxis, the following axis in the TO pathAxis. This has, for
example, the following effects:
● If a function or a function block expects an input parameter of the driveAxis data type, you
can also use a position axis or a following axis or a path axis when calling.
● If a function or a function block expects an input parameter of the posAxis data type, you
can also use a following axis or a path axis when calling.

3.4.3.3 Examples of the use of technology object data types

Below, you will see an example of optional use of a variable with a technology object data
type (you will find an example of mandatory use of a variable with a TO data type in the
SIMOTION Basic Functions Function Manual). A second example shows the alternative
without using a variable with TO data type.
A TO function will be used to enable an axis in the main part of a program so that the axis
can be positioned. After the positioning operation, the current position of the axis will be
recorded using a structure access.
The first example uses a variable with TO data type to demonstrate its use.

Table 3-19 Example of the use of a data type for technology objects
VAR
myAxis : posAxis; // Declaration variable for axis
myPos : LREAL; // Variable for position of axis
retVal: DINT; // Variable for return value of the
// TO function
END_VAR
myAxis := Axis1; // The name Axis1 was defined when the axis
// was configured in the project navigator.

// Call of function with variables of TO data type:

retVal := _enableAxis(axis := myAxis, commandId := _getCommandId());

// Axis is positioned.
retVal := _pos(axis := myAxis,
position := 100,
commandId:= _getCommandId() );

// Scan the position using structure access

myPos := myAxis.positioningState.actualPosition;

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 103
ST Fundamentals
3.4 Data types

The second example does not use a variable with TO data type.

Table 3-20 Example of using a technology object

VAR
myPos : LREAL; // Variable for position of axis
retVal: DINT; // Variable for return value of TO function
END_VAR

// Call of function without variable of TO data type

// The name Axis1 was defined when the axis
// was configured in the project navigator.
retVal := _enableAxis(axis := Axis1,
commandId:= _getCommandId() );

// Axis is positioned.
retVal := _pos(axis := Axis1
position := 100,
commandId:= _getCommandId() );

// Scan the position using structure access

myPos := Axis1.positioningState.actualPosition;

You will find details for configuration of technology objects in the SIMOTION Motion Control
function descriptions.

3.4.4 System data types

There are a number of system data types available that you can use without a previous
declaration. And, each imported technology packages provides a library of system data
types.
Additional system data types (primarily enumerator and STRUCT data types) can be found
● In parameters for the general standard functions (see SIMOTION Basic Functions
Function Manual)
● In parameters for the general standard function modules (see SIMOTION Basic
Functions Function Manual)
● In system variables of the SIMOTION devices (see relevant parameter manuals)
● In parameters for the system functions of the SIMOTION devices (see relevant parameter
manuals)
● In system variables and configuration data of the technology objects (see relevant
parameter manuals)
● In parameters for the system functions of the technology objects (see relevant parameter
manuals)

SIMOTION ST Structured Text

104 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.5 Variable declaration

3.5 Variable declaration

A variable defines a data item with variable contents that can be used in the ST source file. A
variable consists of an identifier (e.g. myVar1) that can be freely selected and a data type
(e.g. BOOL). Reserved identifiers (see Reserved identifiers (Page 75)) must not be used as
identifiers.

3.5.1 Syntax of variable declaration

Variables are always created according to the same pattern in the declaration section of a
source file section:
1. Start a declaration block with an appropriate keyword (e.g. VAR, VAR_GLOBAL – see
Overview of all variable declarations (Page 106)).
2. This is followed by the actual variable declarations (see figure); you can create as many
of these as you wish. The order is arbitrary.
3. End the declaration block with END_VAR.
4. You can create further declaration blocks (also with the same keyword).

9DULDEOHGHFODUDWLRQ XQIRUPDWWHG

,GHQWLILHU  'DWDW\SH   ,QLWLDOL]DWLRQ 

,GHQWLILHURIWKHYDULDEOH
RUWKHIRUPDOSDUDPHWHU $55$<GDWD
LQ)%RU)& W\SH
6SHFLILFDWLRQ



Figure 3-11 Syntax: Variable declaration

Note the following:

● The variable name must be an identifier, i.e. it can only contain letters, numbers or an
underscore, but not special characters.
● The following are permissible as data types:
– Elementary data types
– UDT (user-defined data types)
– System data types
– TO data types
– ARRAY data type specifications
– Designation of a function block (instance declaration – see Calling functions and
function modules (Page 153)).
● You can assign initial values to the variables in the declaration statement. This is known
as initialization (see Initialization of variables or data types (Page 107)).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 105
ST Fundamentals
3.5 Variable declaration

Deviations from the pattern presented are as follows:

● For constant declarations (a constant must be initialized with a value, see
Constants (Page 111)),
● For process image access (see Overview of all variable declarations (Page 106)):
– A variable declaration is not required for absolute process image access,
– Initialization is not permitted for symbolic process image access.

Table 3-21 Examples of variable declarations

VAR CONSTANT
PI : REAL := 3.1415;
END_VAR

VAR
// Declaration of a variable ...
var1 : REAL;
// ... or if there are several variables of the same type:
var2, var3, var4 : INT;
// Declaration of a one-dimensional array:
a1 : ARRAY[1..100] OF REAL;
// Declaration of a character string (string):
str1 : STRING[40];
END_VAR

3.5.2 Overview of all variable declarations

You specify the name, data type, and initial values of variables in the variable and parameter
declarations. You always execute these declarations in the declaration sections of the
following source file sections:
● Interface section
● Implementation section
● POU (program, function, function block, expression)
The source file section also determines which variables you can declare (see table), as well
as their range.
For additional information about the source file sections, refer to Structure of an ST source
file (Page 86) and Source file sections (Page 169).

SIMOTION ST Structured Text

106 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.5 Variable declaration

Table 3-22 Keywords for declaration blocks

Keyword Meaning Declaration in the following

declaration sections
VAR Declaration of temporary or static variables Any POU
See Variable model (Page 184)
VAR_GLOBAL Declaration of unit variables Interface section
See Variable model (Page 184) Implementation section
VAR_IN_OUT Variable declaration of in/out parameter; the Function
POU accesses this variable directly (using a Function block
reference) and can change it immediately.
Expression
See Defining functions (Page 148), Defining
function blocks (Page 149)
VAR_INPUT Variable declaration of input parameter, value Function
is externally supplied and cannot be changed Function block
within the POU.
Expression
See Defining functions (Page 148), Defining
function blocks (Page 149)
VAR_OUTPUT Variables declaration output parameter; value Function block
is transmitted from the function block
See Defining functions (Page 148), Defining
function blocks (Page 149)
VAR_TEMP Declaration of temporary variables Program
See Variable model (Page 184) Function block
RETAIN Declaration of retentive variables Only as a supplement to
See Variable model (Page 184) VAR_GLOBAL in the interface
and implementation section
CONSTANT Declaration of constants Only as a supplement:
See Constants (Page 111) • to VAR in FB, FC, or
program
• to VAR_GLOBAL in interface
or implementation section

3.5.3 Initialization of variables or data types

The assignment of initial values to the variables or data types within a declaration is optional
(see Figure Syntax: Variable declaration or Syntax: User-defined data type):
● If there is no initialization specified in the variable declaration, the compiler automatically
assigns the initialization value specified in the data type declaration to the variables.
● If there is no initialization specified in the data type declaration either, the compiler
assigns the value of zero to the variables or data types. Exception:
– For time data types: Initialization values
– For enumeration data types: 1. value of the enumeration
You preassign a variable or a user-defined data type with initial values by assigning a value
(:=) after the data type specification (see Figure Syntax: Variable initialization):

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 107
ST Fundamentals
3.5 Variable declaration

● Assign the elementary data types (or data types derived from elementary data types) a
constant expression in accordance with Figure Syntax: constant expression.
● Assign a field initialization list to a field (ARRAY) according to Figure Syntax: Field
initialization list.
● Assign a structure initialization list to the individual components of a structure (STRUCT)
in accordance with Figure Syntax: Structure initialization list.
● Assign an enumerator element to an enumerator data type.

,QLWLDOL]DWLRQ XQIRUPDWWHG

&RQVWDQWH[SUHVVLRQ

,QLWLDOL]DWLRQRIHOHPHQWDU\GDWDW\SHV

> $UUD\LQLWLDOL]DWLRQOLVW @

,QLWLDOL]DWLRQRIDUUD\V

 6WUXFWXUHLQLWLDOL]DWLRQOLVW 

,QLWLDOL]DWLRQRILQGLYLGXDOFRPSRQHQWVZLWKLQVWUXFWXUHV

Figure 3-12 Syntax: Variable initialization

The initialization value assigned to a variable is calculated from the constant expression at
the time of the compilation. See the figure for the syntax. For information about the syntax of
the constant expression, see Figure Syntax: Constant expression.
Note that a variable list (a1, a2, a3, .. : INT := .. ) can be initialized with a common value. In
this case, you do not have to initialize the variables individually (a1 : INT := .. ; a2 : INT := .. ;
etc.).

SIMOTION ST Structured Text

108 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.5 Variable declaration

&RQVWDQWH[SUHVVLRQ XQIRUPDWWHG

&RQVWDQW

%DVLFORJLF
RSHUDWRU

&RQVWDQW 5HODWLRQDO &RQVWDQW

H[SUHVVLRQ RSHUDWRU H[SUHVVLRQ

%DVLFDULWKPHWLF
RSHUDWRU

 &RQVWDQWH[SUHVVLRQ
8QDU\PLQXV

127
1HJDWLRQ

'DWDW\SHFRQYHUVLRQIXQFWLRQ

 &RQVWDQW 
H[SUHVVLRQ

52/

525

6+/

 &RQVWDQW  &RQVWDQW 
6+5 H[SUHVVLRQ H[SUHVVLRQ

Figure 3-13 Syntax: Constant expression

$UUD\LQLWLDOL]DWLRQOLVW XQIRUPDWWHG

&RQVWDQWH[SUHVVLRQ

&RQVWDQWH[SUHVVLRQ

'HFLPDOGLJLWVWULQJ  

5HSHDWIDFWRU $UUD\LQLWLDOL]DWLRQOLVW



Figure 3-14 Syntax: Array initialization list

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 109
ST Fundamentals
3.5 Variable declaration

6WUXFWXUHLQLWLDOL]DWLRQOLVW XQIRUPDWWHG

,GHQWLILHU   ,QLWLDOL]DWLRQ

'HVLJQDWLRQRIWKH
FRPSRQHQW



Figure 3-15 Syntax: Structure initialization list

Table 3-23 Examples of variable initialization

VAR
// Declaration of a variable ...
var1 : REAL := 100.0;
// ... or if there are several variables of the same type:
var2, var3, var4 : INT := 1;
var5 : REAL := 3 / 2;
var6 : INT := 5 * SHL(1, 4)
myC1 : C1 := GREEN;
array1 : ARRAY [0..4] OF INT := [1, 3, 8, 4, 0];
array2 : ARRAY [0..5] OF DINT := [6 (7)];
array3 : ARRAY [0..10] OF INT := [2 (2(3),3(1)),0];
// is equivalent to [2(3),3(1),2(3),3(1)),0]
// Initialization as follows:
// Array elements 0, 1 with 3;
// Array elements 2, 3, 4 with 1;
// Array elements 5, 6 with 3;
// Array elements 7, 8, 9 with 1;
// Array element 10 with 0
myAxis : PosAxis := TO#NIL;
END_VAR

Table 3-24 Examples of data type initialization

TYPE
// Initialization of a derived data type
type1 : REAL := 10.0;
// Initialization of an enumeration data type
cmyk_colour : (cyan, magenta, yellow, black) := yellow;
// Initialization of structures
var_rgb_colour : STRUCT
red, green, blue : USINT := 255;// white
END_STRUCT;
new_colour : var_rgb_colour := (red := 0, blue := 0);//green
END_TYPE

Variables of a technology object (TO) data type are initialized by the compiler with TO#NIL.
The effect of tasks on variable initialization is described in the SIMOTION Basic Functions
Function Manual.

SIMOTION ST Structured Text

110 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.5 Variable declaration

3.5.4 Constants
Constants are data with a fixed value that you cannot change during program runtime.
Constants are declared in the same way as variables:
● In the declaration section of a POU for local constants (see Figure Syntax: Constant
block in a POU and Syntax: Constant declaration).
● In the interface or implementation section of the ST source file for unit constants (see
FigureSyntax: Unit constants in the interface or implementation section and Syntax:
Constant declaration). You can import unit constants declared in the interface section into
other ST source files (see Variable model (Page 184)).
The source file section also determines the range of the constant declaration.

&RQVWDQWEORFN XQIRUPDWWHG

9$5&2167$17 &RQVWDQWGHFODUDWLRQ (1'B9$5

Figure 3-16 Syntax: Constant block in a POU

8QLWFRQVWDQWVJOREDOFRQVWDQWEORFN XQIRUPDWWHG

9$5B*/2%$/&2167$17 &RQVWDQWGHFODUDWLRQ (1'B9$5

Figure 3-17 Syntax: Unit constants in interface or implementation section

&RQVWDQWGHFODUDWLRQ XQIRUPDWWHG

,GHQWLILHU  'DWDW\SH   ,QLWLDOL]DWLRQ 

,GHQWLILHURIWKH
FRQVWDQWV $55$<
GDWDW\SH

VSHFLILFDWLRQ

Figure 3-18 Syntax: Constant declaration

The value assigned to a constant is calculated from the constant expression at the time of
compilation. For information about the syntax of the constant expression, see Figure Syntax:
Constant expression.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 111
ST Fundamentals
3.6 Value assignments and expressions

Table 3-25 Examples of constants

VAR CONSTANT
PI : REAL := 3.1415;
intConst : INT := 10;
sintConst : SINT := 0;
dintConst : DINT := 10_000;
timeConst : TIME := TIME#1h;
strConst : STRING[40] := 'Example of a string';
Two_PI : REAL := 2 * PI;
END_VAR

3.6 Value assignments and expressions

You have already created value assignments with the character string :=, perhaps for a
statement as part of the example (see Table Examples of statements in
Statements (Page 87)) or when initializing variables in the declaration section of a source file
section.
However, this is only a small range of the options available for formulating value
assignments. This section of the manual now describes this important topic in detail using a
large number of examples for illustration purposes.

Note
In arithmetic and logic expressions, the result is always calculated in the largest number
format of the expression and converted to the data type of the result. Implicit conversion is
not always possible in value assignments. For more information on this error source and its
solution, see SIMOTION Basic Functions Function Manual.

See also
Notes on avoiding errors and on efficient programming (Page 251)

SIMOTION ST Structured Text

112 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.6 Value assignments and expressions

3.6.1 Value assignments

3.6.1.1 Syntax of the value assignment

A value assignment is used to assign the value of an expression to a variable. The previous
value is overwritten. Before a value can be correctly assigned, a variable must be declared in
the declaration section (see Syntax of variable declaration (Page 105)).
As shown in the following syntax diagram, the expression is evaluated on the right side of
the assignment sign :=. The result is stored in the variable, whose name is on the left side of
the assignment sign (target variable). All target variables supported from a formal viewpoint
are shown in the figure.

9DOXHDVVLJQPHQW XQIRUPDWWHG

9DULDEOHRIWKH
HOHPHQWDU\GDWDW\SH

9DULDEOHRIWKH
HQXPHUDWRUGDWDW\SH

$UUD\YDULDEOH

6WUXFWXUHGYDULDEOH

$EVROXWH3,DFFHVV   ([SUHVVLRQ

2XWSXWVRQO\

([WHUQDOWDJ

$FFHVVWR)%LQSXWSDUDPHWHUV !

'LUHFWELWDFFHVV !

!2QO\IRUDFWLYDWHG3HUPLWODQJXDJHH[WHQVLRQVFRPSLOHURSWLRQ

Figure 3-19 Syntax: Value assignments

The following contains explanations and examples for the left side of the value assignment:
● Value assignments with variables of an elementary data type (Page 114) ,
● Value assignments with variables of the derived enumerator data type (Page 117)
● Value assignments with variables of the derived ARRAY data type (Page 118)
● Value assignments with variables of the derived STRUCT data type (Page 118)

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 113
ST Fundamentals
3.6 Value assignments and expressions

● Value assignments with absolute PI access (to addresses of the process image), see:
Absolute access to the fixed process image of the BackgroundTask (absolute PI
access) (Page 221).
How the right side of a value assignment, i.e. an expression, is formed, is described in
Expressions (Page 119).

3.6.1.2 Value assignments with variables of an elementary data type

An expression with an elementary data type (Page 90) can be assigned to a variable when
one of the following conditions is fulfilled:
● Expression and target variable have the same data type.
Note the following information on the STRING data type (Page 114).
● The data type of the expression can be implicitly converted to the data type of the target
variable (see Conversion of elementary data types (Page 141) and Functions for the
conversion of numerical data types and bit data types in the SIMOTION Basic Functions
Function Manual).
Examples

elemVar := 3*3;
elemVar := elemVar1;

See also
Value assignments with variables of a bit data type (Page 116)

3.6.1.3 Value assignments with variables of the STRING elementary data type

Assignments between variables of the STRING data type

There are no restrictions to assignments between variables of the STRING data type
(character strings) that have been declared with different lengths. If the declared length of
the target variable is shorter than the current length of the assigned character string, the
character string is truncated to the length of the target variable.
Exception: The following applies for an in/out assignment (parameter transfer to an in/out
parameter): The declared length of the assigned variable (actual parameter) must be greater
than or equal to the declared length of the target variable (formal in/out parameter). See
Parameter transfer to in/out parameters (Page 154).
See also Elementary data types (Page 90):
Examples:

string20 := 'ABCDEFG';
string20 := string30;

SIMOTION ST Structured Text

114 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.6 Value assignments and expressions

Access to elements of a string

The individual elements of a string can be addressed in the same way as the elements of an
array [1..n]. These elements are converted implicitly to the elementary data type BYTE. In
this way assignments between string elements and variables of the BYTE data type are
possible.
Examples:

byteVar := string20[5];
string20[10] := byteVar;

The following special cases have to be taken into account:

1. When assigning a variable of the BYTE data type to a string element
(e.g. stringVar[n:] := byteVar):
– The string element to which the value is to be assigned lies outside of the declared
length of the string:
The string remains unchanged, TSI#ERRNO is set to 1.
– The string element to which the value is to be assigned lies outside of the assigned
length of the string (n > LEN(stringVar)), but within the declared length:
The length of the string is adjusted, the string elements between LEN(stringvar) and n
are set to $00.
2. When assigning a string element to a variable of the BYTE data type
(byteVar := stringVar[n:]):
– The string element to which the variable is to be assigned lies outside of the assigned
length of the string (n > LEN(stringVar)):
The variable is set to 16#00, TSI#ERRNO to 2.

Editing strings
Various system functions are available for the editing of strings, such as the joining of
strings, replacement and extraction of characters, see SIMOTION Basic Functions Function
Manual.

Converting between numbers and strings

Various system functions are available for the conversion between variables of numeric data
types and strings, see Elementary data type conversion (Page 141) and the SIMOTION
Basic Functions Function Manual.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 115
ST Fundamentals
3.6 Value assignments and expressions

3.6.1.4 Value assignments with variables of a bit data type

Access to individual bits of a bit data type variable

You can also access the individual bits of a variable of data type BYTE, WORD or DWORD:
● With standard functions (see SIMOTION Basic Functions Function Manual):
You can read, write or invert any bit of a bit string with the functions _getBit, _setBit and
_toggleBit.
You can specify the number of the bit via a variable.
● With direct bit access:
You can define the bit of the variable that you want to access as a constant, via a
separate point behind the variable.
You can only specify the number of the bit via a constant.
To be able to use this option, you must activate the compiler option "Permit language
extensions" (see Global compiler settings (Page 45) and Local compiler
settings (Page 46)).

'LUHFWELWDFFHVV IRUPDWWHG
2QO\IRUDFWLYDWHG3HUPLWODQJXDJHH[WHQVLRQVFRPSLOHURSWLRQ

6LPSOHYDULDEOH

$UUD\YDULDEOH

6WUXFWXUHGYDULDEOH

([WHUQDOWDJ  &RQVWDQW

'DWDW\SH$1<B,17
$FFHVVWR)%RXWSXWSDUDPHWHUV

$FFHVVWR)%LQSXWSDUDPHWHUV

3HUPLWWHGGDWDW\SHV
HDFK%<7(:25'':25'

Figure 3-20 Syntax: Direct bit access

SIMOTION ST Structured Text

116 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.6 Value assignments and expressions

Table 3-26 Example of direct bit access

// Only with compiler option "Permit language extensions"
FUNCTION f : VOID
VAR CONSTANT
BIT_7 : INT := 7;
END_VAR
VAR
dw : DWORD;
b: BOOL;
END_VAR
b := dw.BIT_7; // Access to bit 7
b := dw.3; // Access to bit 3
// b := dw.33; // Compilation error;
// Bit 33 not permitted.
END_FUNCTION

NOTICE
The access to bits of an I/O variable or system variable can be interrupted by other tasks.
There is therefore no guarantee of consistency.

Editing variables of the bit data types

You can:
1. Combine several variables of the same data type into one variable of a higher-level data
type (e.g. two variables of the BYTE data type into one of the WORD data type). Various
system functions are available for this, e.g. WORD_FROM_2BYTE.
2. Split one variable into several variables of a lower-level data type (e.g. one variable of the
DWORD data type into four of the BYTE data type). Various system functions are
available for this, e.g. DWORD_TO_4BYTE.
3. Rotate or shift the bits within a variable. The bit sting standard functions ROL, ROR, SHL
and SHR are available for this.
These system functions and system function blocks are described in the SIMOTION Basic
Functions Function Manual.

Logic operators
Variables of the bit data types can be combined with logic operators, see Logic expressions
and bit-serial expressions (Page 127).

3.6.1.5 Value assignments with variables of the derived enumerator data type
Each expression and each variable of the derived enumerator data type (see also: Derived
data type - Enumerator (Page 99)) can be assigned another variable of the same type.

type1 := BLUE;

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 117
ST Fundamentals
3.6 Value assignments and expressions

3.6.1.6 Value assignments with variables of the derived ARRAY data type
An array consists of several dimensions and array elements, all of the same type (see also:
Derived data type ARRAY (Page 97)).
There are various ways to assign arrays to variables. You can assign complete arrays,
individual elements, or parts of arrays:
● A complete array can be assigned to another array if both the data types of the
components and the array limits (the smallest and largest possible array indices) are the
same. Valid assignments are:

array_1 := array_2;

● An individual array element is addressed by the array name followed by the index value
in square brackets. An index must be an arithmetic expression of the data type SINT,
USINT, INT, UINT or DINT.

elem1 := array [i];

array_1 [2] := array_2 [5];
array [j] := 14;

● A value assignment for a valid subarray can be obtained by omitting a pair of square
brackets for each dimension of the array, starting at the right. This addresses a partial
area of the array whose number of dimensions is equal to the number of remaining
indices (see example below).
Consequently, you can reference rows and individual components within a matrix but not
closed columns (closed in the sense of from...to). Valid assignments are:

matrix1[i] := matrix2[k];
array1 := matrix2 [k];

3.6.1.7 Value assignments with variables of the derived STRUCT data type
Variables of a user-defined data type that contain STRUCT data type specifications are
called structured variables (see also Derived data type STRUCT (structure) (Page 100)).
They can either represent a complete structure or a component of this structure.
Valid parameters for a structure variable are:

struct1 //Identifier for a structure

struct1.elem1 //Identifier for a structure component
struct1.array1 //Identifier of a simple array
//within a structure
struct1.array1[5] //Identifier of an array component
//within a structure

SIMOTION ST Structured Text

118 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.6 Value assignments and expressions

There are two ways to assign structures to variables. You can reference complete structures
or structure components:
● A complete structure can only be assigned to another structure if the data type and the
name of both structure components match.
A valid assignment is:

struct1 := struct2;

● You can assign a type-compatible variable, a type-compatible expression or another

structure component to each structure component.
Valid assignments are:

struct1.elem1 := Var1;
struct1.elem1 := 20;
struct1.elem1 := struct2.elem1;
struct1.array1 := struct2.array1;
struct1.array1[10] := 100;

Note
You also use structured variables in the FBInstanceName.OutputParameter format, e.g.
myCircle.circumference to access the output variables of a function block, i.e. the result of
the function block. For more information about function blocks, see explanations in Defining
functions (Page 148) and Defining function blocks (Page 149).
A further application of structured variables is to access TO variables and the variables of
the basic system.

3.6.2 Expressions
An expression represents a value that is calculated when the program is compiled or
executed. It consists of operands (e.g. constants, variables or function values) and operators
(e.g. *, /, +, -).
The data types of the operands and the operators involved determine the expression type.
ST uses the following types of expression:
● Arithmetic expressions
● Relational expressions
● Logic expressions
● Bit-serial expressions

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 119
ST Fundamentals
3.6 Value assignments and expressions

3.6.2.1 Result of an expression

The result of an expression can be:
● Assigned to a variable
● Used as a condition for a control statement
● Used as a parameter for a function or function block call.

Note
Expressions containing only the following elements can be used for variable initialization
and index specification in ARRAY declarations (for initialization expressions – see Figure
Syntax: Constant expression in Initialization of variables or data types (Page 107)):
• Constants
• Basic arithmetic operations
• Logic and relational operations
• Bit string standard functions

3.6.2.2 Interpretation order of an expression

The interpretation order of an expression depends on the following:
● The priority of the operators used,
● The left-to-right rule,
● The use of parentheses (for operators of the same priority).
Expressions are processed according to specific rules:
● Operators are executed according to priority
(see table in Priority of operators (Page 129)).
● Operators of the same priority are executed from left to right.
● A minus symbol in front of an identifier denotes multiplication by -1.
● An arithmetic operator cannot be followed immediately by another.
The expression a * -b is therefore invalid, but a * (-b ) is allowed.
● Parentheses override the operator priority order, i.e. parentheses have the highest
priority.
● Expressions in parentheses are treated as individual operands and are always evaluated
first.
● The number of opening parentheses must equal the number of closing parentheses.
● Arithmetic operations cannot be used on characters or logic data. For this reason,
expressions such as (n<=0) + (n<0) are invalid.

Table 3-27 Examples of expressions

testVar // Operand
A AND (B) // Logic expression
A AND (NOT B) // Logic expression with negation
(C) < (D) // Relational expression
3+3*4/2 // Arithmetic expression

SIMOTION ST Structured Text

120 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.6 Value assignments and expressions

3.6.3 Operands

Definition
Operands are objects which can be used to formulate expressions. Operands can be
represented by the syntax diagram:

2SHUDQG XQIRUPDWWHG

9DULDEOHRIWKHHOHPHQWDU\GDWDW\SH

9DULDEOHRIWKHHQXPHUDWRUGDWDW\SH

$UUD\YDULDEOH

6WUXFWXUHGYDULDEOH

$EVROXWH3,DFFHVV

,QSXWVDQGRXWSXWV

&RQVWDQW

)&FDOO

$FFHVVWR)%RXWSXWSDUDPHWHUV

([WHUQDOWDJ

$FFHVVWR)%LQSXWSDUDPHWHUV !

'LUHFWELWDFFHVV !

!2QO\IRUDFWLYDWHG3HUPLWODQJXDJHH[WHQVLRQVFRPSLOHURSWLRQ

Figure 3-21 Syntax: Operand

Table 3-28 Examples of operands

intVar
5
%I4.0
PI
NOT TRUE
axis1.motionStateData.actualVelocity

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 121
ST Fundamentals
3.6 Value assignments and expressions

3.6.4 Arithmetic expressions

An arithmetic expression is an expression formed with arithmetical operators. These
expressions allow numerical data types to be processed.

$ULWKPHWLFRSHUDWRU XQIRUPDWWHG

%DVLFDULWKPHWLFRSHUDWRU

Figure 3-22 Syntax: Arithmetic operator

%DVLFDULWKPHWLFRSHUDWRU XQIRUPDWWHG

  02'  

Figure 3-23 Syntax: Basic arithmetic operator

The following table shows for each arithmetic operation:

● The arithmetic operator
● The permitted data types of the operands
● The data type of the result.
Some of the General data types (Page 92) are used here.

Note
Further operations are possible with standard numeric functions, see Standard numeric
functions in the SIMOTION Basic Functions Function Manual.
It is recommended to enclose negative numbers in parentheses, even in cases where it is
not absolutely necessary, in order to enhance legibility.
The arithmetic operators are processed in accordance with their rank (Page 129).

SIMOTION ST Structured Text

122 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.6 Value assignments and expressions

Table 3-29 Arithmetic operators

Instruction Operator Data type

1st operand 2nd operand Result1
Exponential ** ANY_REAL2 ANY_REAL ANY_REAL3
(See also EXPT function)
Unary minus – ANY_NUM (None) ANY_NUM
Multiplication * ANY_NUM ANY_NUM ANY_NUM
ANY_BIT4 ANY_BIT4 ANY_BIT
TIME ANY_NUM TIME
Division / ANY_NUM ANY_NUM5 ANY_NUM
ANY_BIT4 ANY_BIT4 5 ANY_BIT
TIME ANY_NUM5 TIME
TIME TIME5 UDINT
Modulo division MOD ANY_INT ANY_INT5 ANY_INT
ANY_BIT4 ANY_BIT4 5 ANY_BIT
Addition + ANY_NUM ANY_NUM ANY_NUM
ANY_BIT4 ANY_BIT4 ANY_BIT
TIME TIME TIME6
TOD TIME TOD6)
DT TIME DT7
Subtraction – ANY_NUM ANY_NUM ANY_NUM
ANY_BIT4 ANY_BIT4 ANY_BIT
TIME TIME TIME
TOD TIME8 TOD
DATE DATE TIME9
TOD TOD TIME9
DT TIME DT
DT DT TIME9
1 The data type of the result is determined by the most powerful data type of the operands.
2 The first operand must be greater than zero.
Exceptions as of Version V4.1 of the SIMOTION Kernel:
– If the second operand is an integer, the first operand can be less than zero.
– If the second operand is positive, the first operand can be equal to zero.
The following applies up to Version V4.0 of the SIMOTION Kernel: If the first operand is equal to
zero, an error message can be caught with ExecutionFaultTask.
3 Data type of first operand.
4Other than BOOL data type. The calculation is made using the unsigned integer of the same bit
width.
5 The second operand must not be equal to zero.
6 Addition, possibly with overflow.
7 Addition with date correction.
8 Restriction of TIME to TOD before calculation.
9 These operations are based on the modulo of the maximum value of the TIME data type.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 123
ST Fundamentals
3.6 Value assignments and expressions

Note
If the limits of the value range are exceeded in operations with variables of the general
ANY_REAL data type, the result contains the equivalent bit pattern according to IEEE 754.
In order to establish whether the value range was exceeded in the operation, you can verify
the result using the function _finite (see SIMOTION Basic Functions Function Manual).

3.6.4.1 Examples of arithmetic expressions

Examples of arithmetic expressions with numbers

Assuming that i and j are integer variables (e.g. of data type INT) with the values of 11 and -
3 respectively, some example integer expressions and their corresponding values are
presented below:

Expression Value
i + j 8
i - j 14
i * j -33
i MOD j -2
i / j -3

Examples of valid arithmetic expressions with time specifications

Assume the following variables:

Variables Content Data type

t1 T#1D_1H_1M_1S_1MS TIME
t2 T#2D_2H_2M_2S_2MS TIME
d1 D#2004-01-11 DATE
d2 D#2004-02-12 DATE
tod1 TOD#11:11:11.11 TIME_OF_DAY
tod2 TOD#12:12:12.12 TIME_OF_DAY
dt1 DT#2004-01-11-11:11:11.11 DATE_AND_TIME
dt2 DT#2004-02-12-12:12:12.12 DATE_AND_TIME

Some expressions with these variables and their values are shown in the example.

Expression Value
t1 + t2 T#3D_3H_3M_3S_3MS
dt1 + t1 DT#2004-01-12-12:12:12.111
t1 - t2 T#48D_16H_1M_46S_295MS
t1 * 2 T#2D_2H_2M_2S_2MS
t1 / 2 T#12H_30M_30S_500MS
DATE_AND_TIME_TO_TIME_OF_DAY(dt1) TOD#11:11:11.110
DATE_AND_TIME_TO_DATE(dt1) D#2004-01-11

SIMOTION ST Structured Text

124 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.6 Value assignments and expressions

3.6.5 Relational expressions

Definition
A relational expression is an expression of the BOOL data type formed with relational
operators (see figure).

5HODWLRQDORSHUDWRU XQIRUPDWWHG

 !   !   !

Figure 3-24 Syntax: Relational operators

Relational operators compare the values of two operands (see table) and return a Boolean
value as result.
1st Operand Operator 2nd Operand -> Boolean value

Table 3-30 Meaning of relational operators

Operator Meaning
> 1. operand is greater than the 2nd operand
< 1. operand is less than the 2nd operand
>= 1. operand is greater than or equal to the 2nd operand
<= 1. operand is less than or equal to the 2nd operand
= 1. operand is equal to the 2nd operand
<> 1. operand is not equal to the 2nd operand
The result of the relational expression is:
● 1 (TRUE), when the comparison is satisfied
● 0 (FALSE), when the comparison is not satisfied.
The following table shows permissible combinations of the data types for the two operands
and relational operators.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 125
ST Fundamentals
3.6 Value assignments and expressions

Table 3-31 Relational expressions: Permissible combinations of the data types and relational
operators

Data type Permissible relational operators

1. Operand 2. Operand
ANY_NUM ANY_NUM1 <, >, <=, >=, =, <>
ANY_BIT ANY_BIT <, >, <=, >=, =, <>
DATE DATE <, >, <=, >=, =, <>
TIME_OF_DAY (TOD) TIME_OF_DAY (TOD) <, >, <=, >=, =, <>
DATE_AND_TIME (DT) DATE_AND_TIME (DT) <, >, <=, >=, =, <>
TIME TIME <, >, <=, >=, =, <>
STRING STRING2 <, >, <=, >=, =, <>
Enumerator data type Enumerator data type3 =, <>
ARRAY ARRAY3 =, <>
Structure (STRUCT) Structure (STRUCT)3 =, <>
1 Both operands must be converted to the most powerful data type through implicit conversion (see
Elementary data type conversion (Page 141) and Functions for the conversion of numerical data
types and bit data types in the SIMOTION Basic Functions Function Manual).
2 Variables of the STRING data type can be compared irrespective of the declared length of the
string.
To compare two variables of the STRING data type with different lengths, the shorter character string
is expanded to the length of the longer character string by inserting $00 on the right-hand side. The
comparison starts from left to right and is based on the ASCII code of the respective characters.
Example: ’ABC’ < ’AZ’ < ’Z’ < ’abc’ < ’az’ < ’z’.
3 Data type of first operand.
Relational expressions and variables or constants of the BOOL data type can be combined
into logic expressions with logic operators (see Logic expressions and bit-serial
expressions (Page 127)). This enables the implementation of queries such as If a < b and b
< c, then ….

NOTICE
Relational operators have a higher priority than logic operators in an expression (see
Priority of operators (Page 129)). Therefore the operands of a relational expression must be
placed in brackets if they themselves are logic expressions or bit-serial expressions.
Note that errors can occur when comparing REAL or LREAL variables (also the
corresponding system variables, e.g. axis position).

Table 3-32 Examples of relational expressions

IF A = 2 THEN
//...
END_IF;
var_1 := B < C; // var_1 of BOOL data type
IF D < E OR var_2 THEN // var_2 of BOOL data type
// ...
END_IF;

SIMOTION ST Structured Text

126 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.6 Value assignments and expressions

3.6.6 Logic expressions and bit-serial expressions

Definition
With the logic operators AND, &, XOR, and OR, it is possible to combine operands and
expressions of the general data type ANY_BIT (BOOL, BYTE, WORD, or DWORD).
With the logic operator NOT it is possible to negate operands and expressions of data type
ANY_BIT.
The table provides information about the available operators:

Table 3-33 Logic operators

Instruction Operator 1. Operand 2. Operand Result1

Negation NOT ANY_BIT - ANY_BIT
Conjunction AND or & ANY_BIT ANY_BIT ANY_BIT
Exclusive XOR ANY_BIT ANY_BIT ANY_BIT
disjunction
Disjunction OR ANY_BIT ANY_BIT ANY_BIT
1 The data type of the result is determined by the most powerful data type of the operands.

The expression is designated

● a logic expression, if only operands of data type BOOL are used.
The operators have the effect on the operands stated in the following truth table.
The result of a logic expression is 1 (TRUE) or 0 (FALSE).
● a bit-serial expression, if operands of data type BYTE, WORD, or DWORD are used.
The operators have the effect on individual bits of the operands stated in the following
truth table.

Table 3-34 Truth table of the logic operators

Operands Result (data type BOOL)

(data type BOOL)
a b NOT a NOT b a AND b a XOR b a OR b
a&b
0 0 1 1 0 0 0
0 1 1 0 0 1 1
1 0 0 1 0 1 1
1 1 0 0 1 0 1

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 127
ST Fundamentals
3.6 Value assignments and expressions

Examples

Table 3-35 Logic expressions

Expression (let n = 10) Value

(n>0) AND (n<20) TRUE
(n>0) AND (n<5) FALSE
(n>0) OR (n<5) TRUE
(n>0) XOR (n<20) FALSE
NOT ((n>0) AND n<20)) FALSE

Table 3-36 Bit-serial expressions

Expression Value
2#01010101 AND 2#11110000 2#01010000
2#01010101 OR 2#11110000 2#11110101
2#01010101 XOR 2#11110000 2#10100101
NOT 2#01010101 2#10101010

Expression in query (let value1 be 2#01, let value2 be 2#11)

IF (value1 AND value2) = 2#01 THEN...

Condition returns TRUE, because bit-serial expression returns 2#01.

SIMOTION ST Structured Text

128 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.6 Value assignments and expressions

3.6.7 Priority of operators

Some general rules for the formulation of expressions were described in
Expressions (Page 119). The table shows you the priority of the individual operators within
an expression.

Instruction Symbol Priority

Parentheses (Expression) Highest
Function evaluation Identifier (argument list)
e.g. LN(a), EXPT (a,b) etc.
Negation –
Complement NOT
Exponentiation **
Multiplication *
Division /
Modulo MOD
Addition +
Subtraction –
Comparison <, >, <=, >=
Equal =
Not equal <>
Boolean AND &, AND
Boolean XOR
EXCLUSIVE OR
Boolean OR OR

Lowest

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 129
ST Fundamentals
3.7 Control statements

3.7 Control statements

Few source file sections can be programmed such that all statements are executed in
sequence from start to end. Usually, some statements will be executed only if a condition is
true (alternatives) and some will be executed repeatedly (loops). Program control statements
within a source file section are the means for accomplishing this.

3.7.1 IF statement
The IF statement is a conditional statement. It specifies one or more options and selects one
(or none) of its statement sections for execution.
The specified logic expressions are evaluated when the conditional statement is executed. If
the value of an expression is TRUE, the condition is fulfilled, if the value is FALSE, it is not
fulfilled.

,)VWDWHPHQW XQIRUPDWWHG

,) ([SUHVVLRQ 7+(1 6WDWHPHQWVHFWLRQ

&RQGLWLRQRIGDWDW\SH%22/

(/6,) ([SUHVVLRQ 7+(1 6WDWHPHQWVHFWLRQ

&RQGLWLRQRIGDWDW\SH%22/

(/6( 6WDWHPHQWVHFWLRQ (1'B,) 

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B,)NH\ZRUGZLWKDVHPLFRORQ

Figure 3-25 Syntax: IF statement

The IF statement is processed according to the following rules:

1. If the value of the first expression is TRUE, the statement section after the THEN is
executed.
The program is subsequently resumed after the END_IF.
2. If the value of the first expression is FALSE, the expressions in the ELSIF branches are
evaluated. If a Boolean expression in one of the ELSIF branches is TRUE, the statement
section following THEN is executed.
The program is subsequently resumed after the END_IF.

SIMOTION ST Structured Text

130 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.7 Control statements

3. If none of the Boolean expressions in the ELSIF branches is TRUE, the sequence of
statements after the ELSE is executed (or, if there is no ELSE branch, no further
statements are executed).
The program is subsequently resumed after the END_IF.
Any number of ELSIF statements may be programmed.
Note that there may not be any ELSIF branches and/or ELSE branch. This is interpreted in
the same way as if the branches existed with no statements.

Note
An advantage of using one or more ELSIF branches rather than a sequence of IF statements
is that the logic expressions following a valid expression are no longer evaluated. This helps
to reduce the processing time required for the program and to prevent execution of
unwanted program routines.

Table 3-37 Examples of the IF statement

IF A=B THEN
n:= 0;
END_IF;

IF temperature < 5.0 THEN

%Q0.0 := TRUE;
ELSIF temperature > 10.0 THEN
%Q0.2 := TRUE;
ELSE
%Q0.1 := TRUE;
END_IF;

3.7.2 CASE statement

The CASE statement is used to select 1 of n program sections.
This selection determines a selection expression (selector):
● Expression of general data type ANY_INT
● Variable of an enumeration data type (enumerator)
The selection is made from a list of values (value list), whereby a section of the program is
assigned to each value or group of values.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 131
ST Fundamentals
3.7 Control statements

&$6(VWDWHPHQW XQIRUPDWWHG

9DULDEOH

(QXPHUDWRUGDWDW\SH

&$6( ([SUHVVLRQ 2)

'DWDW\SH$1<B,17

9DOXHOLVW  6WDWHPHQWVHFWLRQ

(/6( 6WDWHPHQWVHFWLRQ (1'B&$6( 

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B&$6(NH\ZRUGZLWKDVHPLFRORQ

Figure 3-26 Syntax: CASE statement

The CASE statement is processed according to the following rules:

1. The selection expression (selector) is calculated. It must return a value of general data
type ANY_INT (integer) or an enumerator data type.
2. Then a check is performed to determine whether the selector value is contained in the
value list. Each value in the list represents one of the allowed values for the selection
expression.
3. If a match is found, the program section assigned in the list is executed.
4. The ELSE branch is optional. It is executed if no match is found.
5. If the ELSE branch is missing and no match is found, the program is resumed after
END_CASE.
The value list contains the allowed values for the selection expression.

SIMOTION ST Structured Text

132 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.7 Control statements

9DOXHOLVW XQIRUPDWWHG

&RQVWDQW

9DOXH

&RQVWDQW  &RQVWDQW

9DOXH 9DOXH
9DOXH 9DOXH



Figure 3-27 Syntax: Value list

Note the following when formulating the value list:

● Each value list can begin with a constant (value), a constant list (value1, value2, value3,
etc.) or a constant range (value1 to value2).
● Values in the value list must be integer values or constants/elements of the enumeration
data type of the selector.

Note
A value should only occur once in the value lists of a CASE statement.
In the event of multiple occurrence of a value, the compiler will issue an alarm, and only
the section of the statement corresponding to the value list in which the value occurred
first is executed.

The following example illustrates the use of the CASE statement.

Table 3-38 Examples of the CASE statement

CASE intVar OF
1 : a := 1;
2,3 : b := 1;
4..9 : c := 1; d:=2;
ELSE
e := 5;
END_CASE;

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 133
ST Fundamentals
3.7 Control statements

3.7.3 FOR statement

A FOR statement or a repeat statement executes a series of statements in a loop, whereby
values are assigned to a variable (a count variable) on each pass. The count variable must
be a local variable of type SINT, INT or DINT.
The definition of a loop with FOR includes the specification of a start and end value. Both
variables must be the same data type as the count variable.

Note
You use the FOR statement when the number of loop passes is known at the programming
stage. If the number of passes is not known, the WHILE or REPEAT statement is more
suitable (see WHILE statement (Page 136) and REPEAT statement (Page 137)).

)25VWDWHPHQW XQIRUPDWWHG

9DULDEOHLGHQWLILHU
)25   ([SUHVVLRQ

6WDUWYDOXH
6LPSOHYDULDEOHGDWDW\SH
6,1786,17,178,17',17

72 ([SUHVVLRQ %< ([SUHVVLRQ

(QGYDOXH ,QFUHPHQW

'2 6WDWHPHQWVHFWLRQ (1'B)25 

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B)25NH\ZRUGZLWKDVHPLFRORQ

Figure 3-28 Syntax: FOR statement

3.7.3.1 Processing of the FOR statement

The FOR statement is processed according to the following rules:
1. At the start of the loop, the count variable is set to the start value and is increased
(positive increment) or decreased (negative increment) by the specified increment after
each loop pass until the end value is reached. After the first loop pass, the start value is
known as the current value.
2. On each pass, the system checks whether the following conditions are true:
– Start value or current value <= end value (for positive increment) or
– Start value or current value >= end value (for negative increment)
If the condition is fulfilled, the sequence of statements is executed.
If the condition is not fulfilled, the loop and, thus, the sequence of statements is skipped
and the program is resumed after END_FOR.

SIMOTION ST Structured Text

134 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.7 Control statements

3. If the FOR loop is not executed due to Step 2, the count variable retains the current
value.

3.7.3.2 Rules for the FOR statement

The following rules apply to the FOR statement:
● The BY [increment] specification can be omitted. If no increment is specified, the default
is +1.
● The start value, end value and increment are expressions (see Expressions (Page 119)).
The expression is evaluated once at the beginning of the FOR statement.
● If the start value and end value are of the DINT data type, the value of (end value - start
value) must be less than the maximum value range of the double integer, that is, less
than 2**31-1.
● Only the first selection statement for which the selector is true is executed.
● The count variable contains the value which triggers the loop exit, i.e. it is incremented
before the loop is exited.
● You are not allowed to change the end value and increment value during the execution of
the loop.

3.7.3.3 Example of the FOR statement

Table 3-39 Example of the FOR statement

FOR k := 1 TO 10 BY 2 DO
l:=l+1;
// ...
END_FOR;

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 135
ST Fundamentals
3.7 Control statements

3.7.4 WHILE statement

The WHILE statement allows a sequence of statements to be executed repeatedly under the
control of an iteration condition. The iteration condition is formulated in accordance with the
rules for a logic expression.

Note
You use the WHILE statement when the number of loop passes is not known at the
programming stage. If the number of passes is known, the FOR statement is more suitable
(see FOR statement (Page 134)).

:+,/(VWDWHPHQW XQIRUPDWWHG

:+,/( ([SUHVVLRQ '2

&RQGLWLRQRIGDWDW\SH%22/

6WDWHPHQWVHFWLRQ (1'B:+,/( 

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B:+,/(NH\ZRUGZLWKDVHPLFRORQ

Figure 3-29 Syntax: WHILE statement

The statement section after DO is repeated until the iteration condition has the value TRUE.
The WHILE statement is processed according to the following rules:
1. The iteration condition is evaluated each time before the statement section is executed.
2. If the value is TRUE, the statement section is executed.
3. If the value is FALSE, the WHILE statement is terminated (this can occur the first time the
condition is evaluated) and the program is resumed after END_WHILE.

Table 3-40 Example of the WHILE statement

WHILE Index <= 50 DO
Index:= Index + 2;
END_WHILE;

SIMOTION ST Structured Text

136 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.7 Control statements

3.7.5 REPEAT statement

A REPEAT statement causes a sequence of statements programmed between REPEAT and
UNTIL to be executed repeatedly until a termination condition is true. The termination
condition is formulated in accordance with the rules for a logic expression.

Note
You use the REPEAT statement when the number of loop passes is not known at the
programming stage. If the number of passes is known, the FOR statement is more suitable
(see FOR statement (Page 134)).

5(3($7VWDWHPHQW XQIRUPDWWHG

5(3($7 6WDWHPHQWVHFWLRQ 817,/

([SUHVVLRQ (1'B5(3($7 

&RQGLWLRQRIGDWDW\SH%22/

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B5(3($7NH\ZRUGZLWKDVHPLFRORQ

Figure 3-30 Syntax: REPEAT statement

The condition is checked after the statement section is executed. That means the statement
section is executed at least once, even if the termination condition is true at the start.
The REPEAT statement is processed according to the following rules:
1. The iteration condition is evaluated each time after the statement section is executed.
2. If the value is FALSE, the statement section is executed again.
3. If the value is TRUE, execution of the REPEAT statement is terminated and program
execution is resumed after END_REPEAT.

Table 3-41 Example of the REPEAT statement

Index:= 1;
REPEAT
Index:= Index + 2;
UNTIL Index > 50
END_REPEAT;

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 137
ST Fundamentals
3.7 Control statements

3.7.6 EXIT statement

An EXIT statement is used to exit a loop (FOR, WHILE or REPEAT loop) at any point,
irrespective of whether the termination condition is true or false.
This statement has the effect of jumping directly out of the loop immediately surrounding the
EXIT statement.
The program resumes after the end of the loop (e.g. after END_FOR).

Table 3-42 Example of the EXIT statement

Index:= 1;
FOR Index := 1 to 51 BY 2 DO
IF %I0.0 THEN
EXIT;
END_IF;
END_FOR;
// The following value assignment is made after the execution of EXIT
// or after the regular end of the FOR loop
// For the execution:
Index_find := Index_2;

3.7.7 RETURN statement

A RETURN statement causes termination of the POU currently being processed (program,
function, function block).
When a function or a function block is terminated, program execution continues in the
higher-level POU after the position where the function or function block was called.

Table 3-43 Example of the RETURN statement

Index:= 1;
FOR Index := 1 to 51 BY 2 DO
IF %I0.0 THEN
RETURN;
END_IF;
END_FOR;
// The following value assignment is made after the regular end
// of the FOR loop for the execution, however, not after the execution
// of RETURN:
Index_find := Index_2;

SIMOTION ST Structured Text

138 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.7 Control statements

3.7.8 WAITFORCONDITION statement

You can use the WAITFORCONDITION statement to wait for a programmable event or
condition in a MotionTask. The statement suspends execution of the calling MotionTask until
the condition is true. You program this condition in an Expression (Page 166). More
information about the WAITFORCONDITION and expressions in this regard is contained in
the SIMOTION Motion Control Basic Functions Function Manual.

:$,7)25&21',7,21VWDWHPHQW XQIRUPDWWHG

:$,7)25&21',7,21

([SUHVVLRQLGHQWLILHU )&SDUDPHWHU
&RQGLWLRQ 7KHFDOORIDQH[SUHVVLRQZLWKSDUDPHWHUVLV
1DPHRIDFRQVWUXFWGHFODUHGZLWK SHUPLWWHGRQO\DVRI9HUVLRQ9RIWKH
(;35(66,21 6,027,21NHUQHO

(GJHHYDOXDWLRQ
:,7+ ([SUHVVLRQ '2
%22/GDWDW\SH
758(5LVLQJHGJHRIWKHFRQGLWLRQLVHYDOXDWHG
)$/6(&RQGLWLRQLVHYDOXDWHGVWDWLFDOO\ GHIDXOWVHWWLQJ ಻

6WDWHPHQWVHFWLRQ (1'B:$,7)25&21',7,21 

'RQRWIRUJHWWRWHUPLQDWHWKH
(1'B:$,7)25&21',7,21NH\ZRUGZLWKDVHPLFRORQ

Figure 3-31 Syntax: WAITFORCONDITION statement

Expression identifier is a construct declared with EXPRESSION; its value defines (together
with WITH edge evaluation, if necessary) whether the condition is considered as been
satisfied.
The WITH edge evaluation sequence is optional. Edge evaluation is an expression of data
type BOOL; it determines how the value of expression identifier is interpreted:
● Edge evaluation = TRUE: The rising edge of expression identifier is interpreted; i.e. the
condition is satisfied when the value of expression identifierchanges from FALSE to
TRUE.
● Edge evaluation = FALSE: The static value of expression identifier is interpreted; i.e. the
condition is satisfied when the value of expression identifier is TRUE.
If WITH edge evaluation is not specified, the default setting is FALSE, i.e. the static value of
expression identifier is evaluated.
The statement section must contain at least one statement (empty statements also possible).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 139
ST Fundamentals
3.7 Control statements

Table 3-44 Example of the WAITFORCONDITION statement

// ...
// Call the statement with name of expression
WAITFORCONDITION myExpression WITH TRUE DO
// Here, at least one statement will be executed with higher priority,
e.g.
%Q0.0 := TRUE;
END_WAITFORCONDITION;
// ...
For a complete example, refer to the description for the Expression (Page 166).

3.7.9 GOTO statement

The GOTO statement causes a jump to the jump label specified in the statement (see Jump
statement and label (Page 250))
You program jump statements with the GOTO statement and specify the jump label to which
you want to jump. Jumps are only permitted within a POU.

*272VWDWHPHQW

*272 -XPSODEHO 

-XPSODEHOGHILQHGLQDVWDWHPHQWDQGRSWLRQDOO\
LQWKHMXPSODEHOGHFODUDWLRQ /$%(/ 

Figure 3-32 Syntax: GOTO statement

Note
You should only use the GOTO statement in special circumstances (for example, for
troubleshooting). It should not be used at all according to the rules for structured
programming.
Jumps are only permitted within a POU.
The following jumps are illegal:
• Jumps to subordinate control structures (WHILE, FOR, etc.)
• Jumps from a WAITFORCONDITION structure
• Jumps within CASE statements
Jump labels can only be declared in the POU in which they are used. If jump labels are
declared, only the declared jump labels may be used.

SIMOTION ST Structured Text

140 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.8 Data type conversions

3.8 Data type conversions

This section describes how you can implicitly and explicitly convert between elementary data
types. It also contains an overview of the additional conversion possibilities.

3.8.1 Elementary data type conversion

The table presents an overview of the conversion options between numerical data types and
bit data types. The following are distinct conversion options:
● Implicit conversion: Conversion is automatic when different data types are used in an
expression or when values are assigned by the compiler.
● Explicit conversion: Conversion is carried out when the user calls a conversion function
(see SIMOTION Basic Functions Function Manual).

Table 3-45 Type conversion of numeric data types and bit data types

Source Target data type

data type
BOOL BYTE WORD DWOR USINT UINT UDINT SINT INT DINT REAL LREAL STRIN
D G
BOOL – Im/Ex Im/Ex Im/Ex Val Val Val Val Val Val Val Val –
BYTE Ex – Im/Ex Im/Ex Ex Ex Ex Ex Ex Ex Val Val Elem
WORD Ex Ex – Im/Ex Ex Ex Ex Ex Ex Ex Val Val –
DWORD Ex Ex Ex – Ex Ex Ex Ex Ex Ex Ex/Val Val –
USINT Val Ex Ex Ex – Im/Ex Im/Ex Ex Im/Ex Im/Ex Im/Ex Im/Ex –
UINT Val Ex Ex Ex Ex – Im/Ex Ex Ex Im/Ex Im/Ex Im/Ex –
UDINT Val Ex Ex Ex Ex Ex – Ex Ex Ex Ex Ex Ex
SINT Val Ex Ex Ex Ex Ex Ex – Im/Ex Im/Ex Im/Ex Im/Ex –
INT Val Ex Ex Ex Ex Ex Ex Ex – Im/Ex Im/Ex Im/Ex –
DINT Val Ex Ex Ex Ex Ex Ex Ex Ex – Ex Im/Ex Ex
REAL Val Val Val Ex/Val Ex Ex Ex Ex Ex Ex – Im/Ex Ex
LREAL Val Val Val Val Ex Ex Ex Ex Ex Ex Ex – Ex
STRING – Elem – – – – Ex – – Ex Ex Ex –
Im: Implicit data type conversion possible
Ex: Explicit data type conversion possible using the Quelldatentyp_TO_Zieldatentyp type conversion function
Val: Explicit data type conversion possible using the
Quelldatentyp_VALUE_TO_Zieldatentyp type conversion function
Elem: Implicit data type conversion with an element of the STRING data type

For information on conversion functions for date and time data types: Please refer to the
SIMOTION Basic Functions Function Manual.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 141
ST Fundamentals
3.8 Data type conversions

3.8.1.1 Implicit data type conversions

Implicit type conversion is always possible if an enlargement of the value range does not
cause any value loss, e.g. from REAL to LREAL or from INT to REAL. The result is always
defined.
The following figure provides a graphics-based view of all implicit type conversion chains.
Each stage in the type conversion chain - reading from left to right or from top to bottom -
always represents an enlargement of the value range.

%LWGDWD %22/ %<7( :25' ':25'

,QWHJHUV
XQVLJQHG 86,17 8,17 8',17

,17 ',17 /5($/

5($/

,QWHJHUV
VLJQHG 6,17 ,17 ',17

5($/ /5($/

)ORDWLQJSRLQW
5($/ /5($/
QXPEHUV

Figure 3-33 Implicit type conversion chains (one or more levels from left to right or one level from top
to bottom)

The following implicit type conversions are supported:

1. Horizontally (from left to right) over one or more levels (e.g. USINT to UDINT)
2. Vertically (from top to bottom) over one level (e.g. UINT to REAL)
The implicit type conversions can be combined in the following order (e.g. INT to LREAL).
All other type conversions cannot be performed implicitly (e.g. UDINT to REAL), that is, you
must use an explicit function (see SIMOTION Basic Functions Function Manual).

Note
In arithmetic expressions, the result is always calculated in the largest number format
contained in the expression.
A value can only be assigned to the expression if:
• The calculated expression and the variable to be assigned are of the same data type.
• The data type of the calculated expression can be implicitly converted to the data type of
the variable to be assigned.
For more information on this error source and its solution: Please refer to the SIMOTION
Basic Functions Function Manual.

SIMOTION ST Structured Text

142 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.8 Data type conversions

Table 3-46 Example of data types in expressions and value assignments

VAR
usint_var : USINT;
real_var : REAL;
byte_var : BYTE;
string_var : STRING[80] := 'example for string';
END_VAR

usint_var := 234 / 10; // Expression data type: USINT

// Result = 23

real_var := 234 / 10; // Expression data type: USINT

// Implicit conversion possible
// Result = 23.0

usint_var := 234 / SINT#10; // Expression data type: INT

// Implicit conversion and
// value assignment not possible

real_var := 234 / 10.0; // Expression data type: REAL

// Result = 23.4

usint_var := 234 / 10.0; // Expression data type: REAL

// Implicit conversion and
// value assignment not possible

byte_var := string_var[5]; // Implicit conversion possible

// Result = 16#70 ('p')

string_var[10] := byte_var; // Implicit conversion possible

// Result = 'example fpr string'

Note
If applicable, specify the data type explicitly for numbers (e.g. UINT#127, if the number 127
is to be of data type UINT instead of USINT).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 143
ST Fundamentals
3.8 Data type conversions

3.8.1.2 Explicit data type conversions

Explicit conversion is always required if information could be lost, for example, if the value
range is decreased or the accuracy is reduced, as is the case for conversion from LREAL to
REAL.
The conversion functions for numeric data types and bit data types are listed in the
SIMOTION Basic Functions Function Manual.
The compiler outputs warnings when it detects conversions associated with loss of precision.

NOTICE
The type conversion may cause errors when the program is running, which will trigger the
error response set in the task configuration (see SIMOTION Basic Functions Function
Manual).
Special attention is required when converting DWORD to REAL. The bit string from
DWORD is taken unchecked as the REAL value. You must make sure that the bit string in
DWORD corresponds to the bit pattern of a normalized floating-point number in accordance
with IEEE. To do this, you can use the _finite and _isNaN functions.
Otherwise, an error is triggered (see above) as soon as the REAL value is first used for an
arithmetic operation (for example, in the program or when monitoring in the symbol
browser).

Note
The following applies if the value range limits are exceeded during conversion from LREAL
to REAL:
• Underflow (absolute value of LREAL number is smaller than the smallest positive REAL
number):
Result is 0.0.
• Overflow (absolute value of LREAL number is larger than the largest positive REAL
number):
The error response specified during task configuration is triggered.

SIMOTION ST Structured Text

144 Programming and Operating Manual, 08/2008
 ST Fundamentals
3.8 Data type conversions

3.8.2 Supplementary conversions

The ST system functions and ST system functions also permit the following conversions:
● Combining bit-string data types
These functions combine multiple variables of a bit string data type into one variable of a
higher-level data type.
● Splitting bit-string data types
These function blocks split up a variable of a bit string data type into multiple variables of
a higher-level data type.
● Converting between any data types and byte arrays
They are commonly used to create defined transmission formats for data exchange
between various devices.
For further information (e.g. on the arrangement of the byte arrays, application example):
Please refer to the SIMOTION Basic Functions Function Manual.
● Conversion of technology object data types
It converts variables of a hierarchical TO data type (driveAxis, posAxis, or followingAxis)
or of the general ANYOBJECT type to a compatible TO data type.
For Application Examples and further information: Please refer to the SIMOTION Basic
Functions Function Manual.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 145
Functions, Function Blocks, and Programs 4
This chapter describes how to create and call user-defined functions and function blocks.
Standard functions are already available in the system for type conversion, trigonometry, and
bit string manipulation. The SIMOTION Basic Functions Function Manual describes how to
use system functions and functions of technology objects (TO functions).
A function (FC) is a logic block with no static data. All local variables lose their value when
you exit the function and are reinitialized the next time you call the function.
A function block (FB) is a code block with static data. Since an FB has memory, its output
parameters can be accessed at any time and from any point in the user program. Local
variables retain their values between calls.
Programs are similar to FBs, but have no parameters. However, they can be assigned
execution levels and tasks (see SIMOTION Basic Functions Function Manual).
FCs and FBs have the advantage that they can be reused, because they are encapsulated
source file sections to which parameters can be assigned.
Functions, function blocks, and programs are program organization units (POUs), i.e. they
are executable source file sections. You will find an overview of all source file sections in
Use of the source file sections (Page 169).

4.1 Creating and calling functions and function blocks

The following description explains how to create and call functions (FCs) and function blocks
(FBs). A complete example showing the differences between FC and FB is contained in
Comparison of functions and function blocks (Page 161).
The order in which you must define and call the stipulated source file sections is given in Use
of the source file sections (Page 169).
How to export and import FCs and FBs is explained in Section Import and export between
ST source files (Page 179).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 147
Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

4.1.1 Defining functions

You define a function in the declaration part of the implementation section before the section
of the source file (program, FB, or FC) in which it is called.
Use the following syntax:

)XQFWLRQ XQIRUPDWWHG

)XQFWLRQLGHQWLILHU 92,'
)81&7,21 ,GHQWLILHU 
'DWDW\SH

6WDWHPHQW
)&GHFODUDWLRQVHFWLRQ VHFWLRQ (1'B)81&7,21

1RWHIRUIXQFWLRQVZLWKGDWDW\SH QRW92,' 
7KHUHWXUQYDOXHRIWKHIXQFWLRQLGHQWLILHUPXVWEHDVVLJQHGLQWKHVWDWHPHQWVHFWLRQ

Figure 4-1 Syntax: Function (FC)

The FUNCTION keyword is followed by an identifier as the FC name and the data type of the
return value. Enter VOID as data type if the FC has no return value.
Then enter (see example in Source file with comments (Page 162)):
● The optional declaration section
● The statement section
● The END_FUNCTION keyword

SIMOTION ST Structured Text

148 Programming and Operating Manual, 08/2008
 Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

4.1.2 Defining function blocks

You define a function block in the declaration part of the implementation section before the
section of the source file (program, FB or FC) in which the FB is called.
Use the following syntax:

)XQFWLRQEORFN XQIRUPDWWHG

)XQFWLRQEORFNLGHQWLILHU

)81&7,21B%/2&. ,GHQWLILHU

)%GHFODUDWLRQVHFWLRQ 6WDWHPHQWVHFWLRQ (1'B)81&7,21B%/2&.

Figure 4-2 Syntax: Function block (FB)

Enter an identifier as the FB name after the FUNCTION_BLOCK keyword.

Then enter (see example in Source file with comments (Page 162)):
● The optional declaration section
● The statement section
● The END_FUNCTION keyword

4.1.3 Declaration section of FB and FC

A declaration section is subdivided into various declaration blocks that are each identified by
a separate pair of keywords. Each block contains a declaration list for similar data, such as
constants, local variables and parameters. Each type of block may only appear once; the
blocks may appear in any order.
The following options are then available for the declaration section of an FC and an FB (see
also the example in Source file with comments (Page 162)):

Table 4-1 Declaration blocks for FC and FB: Options

Data Syntax FB FC
Constant VAR CONSTANT X X
Declaration list
END_VAR
Input parameters VAR_INPUT X X
Declaration list
END_VAR

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 149
Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

Data Syntax FB FC
In/out parameter VAR_IN_OUT X X
Declaration list
END_VAR
Output parameters VAR_OUTPUT X –
Declaration list
END_VAR
Local variable VAR X X
(for FC and FB) Declaration list (static) (temporary)
END_VAR
Local variable VAR_TEMP X -
(for FB) Declaration list (temporary)
END_VAR
Declaration list: The list of identifiers of the type to be declared
Parameters are local data and are formal parameters of a function block or function. When
the FB or FC is called, the formal parameters are substituted by the actual parameters, thus
providing a means of exchanging information between the called and calling source file
sections.
● Formal input parameters receive the actual input values (data flow inwards).
● Formal output parameters (only for FB) are used to transfer output values (data flow
outwards).
● Formal in/out parameters act as input and output parameters.
The following figures show the syntax for the parameter declaration of an FB or an FC.

)%SDUDPHWHUEORFN XQIRUPDWWHG

9$5B,1387 )RUPDOSDUDPHWHU
)RULQSXWSDUDPHWHU
9DULDEOHGHFODUDWLRQ

9$5B287387 (1'B9$5
)RURXWSXWSDUDPHWHU
9DULDEOHGHFODUDWLRQ
9$5B,1B287
)RULQRXWSDUDPHWHU ,QVWDQFHGHFODUDWLRQ

,QLWLDOL]DWLRQQRWSRVVLEOH

7KH9$5B,13879$5B287387DQG9$5B,1B287NH\ZRUGVPD\EHXVHGMXVWRQFHLQWKH
GHFODUDWLRQVHFWLRQ

Figure 4-3 Syntax: FB parameter block

SIMOTION ST Structured Text

150 Programming and Operating Manual, 08/2008
 Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

)&SDUDPHWHUEORFN XQIRUPDWWHG )RUPDOSDUDPHWHU

9$5B,1387 9DULDEOHGHFODUDWLRQ
)RULQSXWSDUDPHWHU

(1'B9$5

9DULDEOHGHFODUDWLRQ
9$5B,1B287
)RULQRXWSDUDPHWHU ,QVWDQFHGHFODUDWLRQ

,QLWLDOL]DWLRQQRWSRVVLEOH

7KH9$5B,1387DQG9$5B,1B287NH\ZRUGVPD\EHXVHGMXVWRQFHLQWKHGHFODUDWLRQVHFWLRQ

Figure 4-4 Syntax: FC parameter block

You can use the declared parameters the same as other variables within the FB or FC, with
the following exception: You cannot assign values to input parameters.
From outside of an FB or an FC, you can access:
● The input and output parameters of an FB by means of structured variables (see User-
defined data types (Page 94)).
The access to the input parameter is possible only when the "Permit language
extensions" compiler option has been activated (see Global compiler
settings (Page 45) or Local compiler settings (Page 46) ).
Data access to the output parameter is possible as standard.
● The return value of an FC by using the function in an expression and assigning this, for
example, to a variable (the specification of the function name calls the function and
simultaneously returns a result).

4.1.4 Statement section of FB and FC

The statement section of the FC or FB contains statements that are executed when the FC
or FB is called. There is no difference compared to the formal rules for creating a statement
section; however, you should note the information in the following table.

Note
For tips on the efficient use of parameters, please refer to Runtime-optimized Programming
in the SIMOTION Basic Functions Function Manual.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 151
Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

Table 4-2 Use of parameters and variables in FCs and FBs

Parameter/variable Use
Input parameters With the call of an FC or an FB, assign the current values to the input
parameters. These values are used for data processing within the FC or
the FB, for example, for calculations, but cannot be modified themselves.
Only for activated "Permit language extensions" compiler option (see
Global compiler settings (Page 45) or Local compiler settings (Page 46)):
The input parameters of an FB can be read and written using structured
variables, also outside the FB (e.g. in the calling source file section).
In/out parameter You assign a variable to an in/out parameter for the call of the FB or FC.
The FC or the FB accesses this variable directly and can change it
immediately. Type conversions are not supported.
The variable assigned to an in/out parameter must be able to be directly
read and written. Therefore, system variables (of the SIMOTION device or
a technology object), I/O variables or process image accesses cannot be
assigned to an in/out parameter.
Output parameters You assign a variable to an in/out parameter for the call of an FB using
(for FB only) the => operator. The value of the output parameter (result) is transferred
to the variables when the FB is closed. The output parameters of an FB
can also be read using structured variables, also outside the FB (e.g. in
the calling source file section).
An FC has no formal output parameters, because the function name
receives the return value. The function name itself is, in a sense, the
output parameter.
Local variables Local variables are variables that are declared and used only within the
block.
All local variables (VAR ... END_VAR) are temporary in an FC, i.e. they
lose their value when the FC is terminated. The next time the FC is called,
they are reinitialized.
A differentiation between static and temporary local variables is made in
the FB:
• Static variables (VAR ... END_VAR) retain their value when the FB is
closed.
• Temporary variables (VAR_TEMP ... END_VAR) lose their value when
the FB is closed. The next time the FB is called, they are reinitialized.
The value of the local variable cannot be queried directly by the calling
block. This is only possible using an output parameter.

SIMOTION ST Structured Text

152 Programming and Operating Manual, 08/2008
 Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

4.1.5 Call of functions and function block calls

This provides an overview of the call of the functions and function blocks.

4.1.5.1 Principle of parameter transfer

When you call an FC or FB, data exchange takes place between the calling and the called
block. The parameters to be transferred must be specified as a parameter list in the call. The
parameters are written in parentheses. Several parameters are separated by commas.

3DUDPHWHUWUDQVIHU

/LVWRISDUDPHWHUV

myCircle (lrRadius := 3, lrCircumf := myCircumf) ;

)%)&QDPH ,QSXWDVVLJQPHQW ,QSXWDVVLJQPHQW

Figure 4-5 Principle of parameter transfer for the call

Input and in/out parameters are normally specified as a value assignment. In this way, you
assign values (actual parameters) to the parameters you have defined in the declaration
section of the called block (formal parameters).
The assignment of output parameters is made using the => operator. In this way, you assign
a variable (actual parameter) to the output parameters you have defined in the declaration
section of the called block (formal parameters).

4.1.5.2 Parameter transfer to input parameters

,QSXWDVVLJQPHQW XQIRUPDWWHG

)RUPDOSDUDPHWHU $FWXDOSDUDPHWHU

,GHQWLILHU   ([SUHVVLRQ

,GHQWLILHURIWKH
LQSXWSDUDPHWHU

Figure 4-6 Syntax: Input assignment

You transfer the data (actual parameters) to the formal input parameters of an FB or FC by
means of input assignments. You can specify the actual parameters in the form of
expressions. You can use the formal input parameters in statements within the FB or FC, but
you cannot modify their values.
A short form of parameter transfer is supported, but should not be applied in conjunction with
user-defined FBs. This short form is required only for some FCs, see SIMOTION Basic
Functions Function Manual.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 153
Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

The assignment of actual parameters is optional for an FB. If no input assignment is

specified, the values of the last call are retained because an FB is a source file section with
memory.
The assignment of an actual parameter is optional for an FC when an initialization
expression was specified for the declaration of the formal parameter.
Also refer to the examples in Calling functions (Page 156) and Calling function blocks
(instance calls) (Page 157).
You can also read and write an FB's input parameter at any time outside the FB. For further
details, see: Accessing the FB's input parameter outside the FB (Page 159).

4.1.5.3 Parameter transfer to in/out parameters

,QRXWDVVLJQPHQW XQIRUPDWWHG

)RUPDOSDUDPHWHU $FWXDOSDUDPHWHU

,GHQWLILHU   9DULDEOHLGHQWLILHU

'HVLJQDWLRQRIWKH 6LPSOHYDULDEOH
LQRXWSDUDPHWHU

Figure 4-7 Syntax: In/out assignment

You transfer the data (actual parameters) to the formal in/out parameters of an FB or an FC
using in/out assignments. You can only assign a variable of the same type to the formal
in/out parameter, data type conversions are not possible.
You can use and change the formal in/out parameters in statements within the FC or the FB.
The FC or the FB accesses the variable of the actual parameter directly and can change it
immediately.
Also refer to the examples in Calling functions (Page 156) and Calling function blocks
(instance calls) (Page 157).
When using the STRING data type in in/out assignments, the declared length of the actual
parameter must be greater than or equal to the length of the formal in/out parameter (see
following example).

SIMOTION ST Structured Text

154 Programming and Operating Manual, 08/2008
 Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

Table 4-3 Example of the use of the STRING data type in in/out assignments
FUNCTION_BLOCK REF_STRING
VAR_IN_OUT
io : STRING[80];
END_VAR
; // Statements
END_FUNCTION_BLOCK

FUNCTION_BLOCK test
VAR
my_fb : REF_STRING;
str1 : STRING[100];
str2 : STRING[50];
END_VAR
my_fb(io := str1); // Permitted call
my_fb(io := str2); // Not permitted call,
// compiler error message

END_FUNCTION_BLOCK

The variable assigned to an in/out parameter must be able to be directly read and written.
Therefore, system variables (of the SIMOTION device or a technology object), I/O variables
or process image accesses cannot be assigned to an in/out parameter.
Please note the different parameter access times!

4.1.5.4 Parameter transfer to output parameters (for FB only)

2XWSXWDVVLJQPHQW XQIRUPDWWHG

)RUPDOSDUDPHWHU $FWXDOSDUDPHWHU

,GHQWLILHU ! 9DULDEOHLGHQWLILHU

,GHQWLILHURIWKH 6LPSOHYDULDEOH
LQRXWSDUDPHWHU

Figure 4-8 Syntax: Output assignment

You use an output assignment to assign the formal output parameters of an FB to the
variables (actual parameter) that accept the value of the formal output parameter when the
FB is closed.
You can use and change the formal output parameters in statements within the FB.
Also refer to the examples in Calling function blocks (instance calls) (Page 157).
Output assignments are optional for the parameter transfer. You can read and write an FB's
output parameter at any time, even outside the FB. For further details, see: Accessing the
FB's output parameter outside the FB (Page 159).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 155
Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

4.1.5.5 Parameter access times

The types of access and thus the parameter access times are different:
● In the case of input assignments, the values of the actual parameters are copied into the
formal parameters. If large structures, such as arrays, are copied and the FC or FB is
called frequently, this can limit performance.
● Values are not copied in in/out assignments. Rather, in this case a link is established
between the memory addresses of the formal parameters and those of the actual
parameters. Transferring the variables is therefore faster than input assignments
(especially where large volumes of data are involved). However, accessing variables from
the FB can be slower.
● If you are using unit variables, nothing is copied to the function or function block because
these variables are valid in the entire ST source file (see Variable model (Page 184)).

Note
Using in/out parameters instead of input parameters is only faster if a large volume of
data is to be passed to the function block.
If unit variables are used predominantly instead of parameters, the resulting program
structure will be complex and confusing: object orientation, data encapsulation, multiple
use of variable names (encapsulation of validity ranges), etc., are no longer possible.

4.1.5.6 Calling a function

A function is called as follows:
● Function with return value (data type other than VOID):
The function is placed on the right-hand side of a value assignment. It can also appear as
operand within an expression. After calling the function, its return value is used at the
appropriate point to calculate the expression.
Examples:

y:=sin(x);
y := sin(in := x);
y := sqrt (1 - cos(x) * cos(x));

● Function without return value (VOID data type)

The assignment consists only of the function call.
The following example is valid provided a funct1 function with the in1 and in2 input
parameters and the inout in/out parameter has already been defined.
Example:

funct1 (in1 := var11, in2 := var12, inout1 := var13);

SIMOTION ST Structured Text

156 Programming and Operating Manual, 08/2008
 Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

Note
In the function itself, the result (return value) is assigned to the function name (except for
data type VOID).

4.1.5.7 Calling function blocks (instance calls)

Before you call a function block (FB), you must declare an instance. You declare a variable
and enter the name of the function block as the data type. You declare this instance:
● Locally (within VAR/END_VAR in the declaration section of a program or function block)
● Globally (within VAR_GLOBAL/END_VAR in the interface of implementation section)
● As an in/out parameter (within VAR_IN_OUT / END_VAR in the declaration section of a
function block or a function).

,QVWDQFHGHFODUDWLRQ XQIRUPDWWHG

)XQFWLRQEORFN
,GHQWLILHU  
LGHQWLILHU
,QVWDQFHLGHQWLILHU
)%$55$<

VSHFLILFDWLRQ

)XQFWLRQEORFNVPXVWDOUHDG\H[LVW
,QLWLDOL]DWLRQQRWSRVVLEOH

Figure 4-9 Syntax: Instance declaration

The instance declaration can also be an array, e.g.:

FB_inst : ARRAY [1..2] OF FB_name.

Note
Pay attention to the different initialization times for different variable types.

You call a function block instance in the statement section of a POU (for information about
syntax, see Figure). FB parameters are input and in-out assignments separated by commas.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 157
Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

)%FDOO XQIRUPDWWHG

,GHQWLILHU

,QVWDQFHQDPH

,GHQWLILHU > ([SUHVVLRQ @

,QVWDQFHQDPH ,QGH[
',17GDWDW\SH

 )%SDUDPHWHU 

Figure 4-10 FB call syntax

The example in the following table is applicable, assuming that the supply and motor function
blocks have already been defined:
● FB Supply:
Input parameters in1, in2; in/out parameter inout; output parameter out
● FB motor:
In/out parameters inout1, inout2; output parameters out1, out2

Table 4-4 Example of instance declaration, FB call, and access to output parameters
VAR
Supply1, Supply2: Supply;
Motor1 : Motor;
END_VAR

Supply1 (in1 := var11, in2 := expr12, inout := var13, out => var14) ;
Supply2 (in1 := var21, in2 := expr22, inout := var23, out => var24) ;
Motor1 (inout1 := var31, inout2 := var32, out1 => var33, out2 => var34);
// ...
var15 := PowerSupply1.out;
var25 := PowerSupply2.out;
var35 := Motor1.out1;
var36 := Motor1.out2;
var41 := Motor1.out1 * Motor1.out2 * (Supply1.out + Supply2.out);

SIMOTION ST Structured Text

158 Programming and Operating Manual, 08/2008
 Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

4.1.5.8 Accessing the FB's output parameter outside the FB

In addition to the output assignment (Page 155) for the call of an FB, it is always possible to
access an FB's output parameter outside the FB.
To do so, use structured variables (Page 100) in the FB instance name.output parameter
format , e.g. Supply1.out.
The instance name of the FB itself must not be used in a value assignment!

See also
User-defined data types (Page 94)

4.1.5.9 Accessing the FB's input parameter outside the FB

In addition to the input assignment (Page 153) for the call of an FB, it is always possible to
read and write an FB's input parameter outside the FB.
To do so, use structured variables (Page 100) in the FB instance name.input parameter
format , e.g. Supply1.in1.

NOTICE
To be able to use this option, the "Permit language extensions" compiler option (see Global
compiler settings (Page 45) and Local compiler settings (Page 46)) must have been
activated.

The instance name of the FB itself must not be used in a value assignment!

Table 4-5 Example of assignment to input parameter

// Only with compiler option "Permit language extensions" activated
VAR
var_fb : _WORD_TO_2BYTE;
var_word : WORD;
END_VAR
var_fb.wordin := var_word;
// ..
var_fb();

4.1.5.10 Error sources in FB calls

Note the following when calling a function block instance:
● Only assign in/out parameters with variables that are stored directly in the memory.
Only the following variables are permissible actual parameters:
– Global variables (unit variables and global device user variables)
– Local variables
– Variables of the data type of the TO (TO instances)

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 159
Functions, Function Blocks, and Programs
4.1 Creating and calling functions and function blocks

The following, in particular, are permitted:

– System variables (TO variables)
– Names of technological objects from the Engineering System
– I/O variables
– Absolute and symbolic process image access
● Do not use functions (FCs) as in/out parameters.
The FC return value, i.e. the FC call, cannot be an actual parameter in an in/out
assignment. You must first store the result of the FC in a local variable and then use this
variable as an actual parameter in the in/out assignment.
● Do not use constants as in/out parameters.
Only variables can be used as actual parameters of an in/out assignment because the
value is written back.
● In/out parameters cannot be initialized.

SIMOTION ST Structured Text

160 Programming and Operating Manual, 08/2008
 Functions, Function Blocks, and Programs
4.2 Comparison of functions and function blocks

4.2 Comparison of functions and function blocks

The differences between user-defined function blocks (FBs) and functions (FCs) are
succinctly illustrated below using a thorough example.

4.2.1 Description of example

The following example illustrates the differences between FBs and FCs. For simplicity, each
type of parameter is used only once, although, in reality, you can define any number of
parameters. The terms used are defined both in the detailed description Defining
functions (Page 148) and Defining function blocks (Page 149).
A block will be created as an FB and an FC in the declaration part of the implementation
section for use in calculating the circumference and the area of a circle for a radius input
variable.
● An input parameter is defined for the radius.
● An in/out parameter is defined for the circumference of the circle, i.e. the value of the
transferred variable is assigned directly during the call of the FB or the FC.
● There are several ways of defining the area of the circle for the FB and the FC:
– For the FB, an output parameter is defined.
– For the FC, its return value is used; the data type of the return value is defined
appropriately.
● Each FB and FC call will be recorded in a counter (local variable). The explanations for
the example state: We will see that this value will continue to be counted only in the FB.
● In the program section, the FB or the FC is called and the actual parameters assigned to
the following formal parameters:
– For the FB: Input, in/out and output parameters
– For the FC: Input and in/out parameters.
The values for the circumference and the area are available after calling the FB or the
FC:
– For the FB: in the actual parameters of the in/out and output parameter.
The output parameter can be read even outside the FB.
– For the FC: in the return value of the function and in the actual parameter of the in/out
parameter.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 161
Functions, Function Blocks, and Programs
4.2 Comparison of functions and function blocks

4.2.2 Source file with comments

Table 4-6 Example of differences between FB and FC

Function block (FB) Function (FC)

INTERFACE INTERFACE
PROGRAM CircleCalc1; PROGRAM CircleCalc2;
END_INTERFACE END_INTERFACE
IMPLEMENTATION IMPLEMENTATION
FUNCTION_BLOCK Circle1 FUNCTION Circle2 : LREAL
//Constant declaration //Constant declaration
VAR CONSTANT VAR CONSTANT
PI : LREAL := 3.1415 ; PI : LREAL := 3.1415 ;
END_VAR END_VAR
//Input parameter //Input parameter
VAR_INPUT VAR_INPUT
Radius : LREAL; Radius : LREAL;
END_VAR END_VAR
//In/out parameter //In/out parameter
VAR_IN_OUT VAR_IN_OUT
circumference : LREAL; circumference : LREAL;
END_VAR END_VAR
//Output parameter //Output parameter
VAR_OUTPUT // Not possible
Area : LREAL;
END_VAR
// Local variables, static // Local variables, temporary
VAR VAR
Counter : DINT; Counter : DINT;
(* Variable retains its value (* Variable will be initialized
between calls *) with 0 for each call *)
END_VAR END_VAR
//Call counter //Call counter
Counter := counter + 1 ; Counter := Counter + 1 ;
Circumference := 2 * PI * Radius ; Circumference := 2 * PI * Radius ;
Area := PI * Radius**2 ; Circle2 := PI * Radius**2 ;
END_FUNCTION_BLOCK END_FUNCTION
PROGRAM CircleCalc1 PROGRAM CircleCalc2
VAR VAR
myCircle1 : Circle1 ;
myArea1, myArea2 : LREAL; myArea : LREAL;
myCircf : LREAL; myCircf : LREAL;
END_VAR; END_VAR;
myCircle1(Radius := 3 myArea := Circle2(Radius := 3
, Circumference := myCircf , Circumference := myCircf);
, Area => myArea1) ;
myArea2 := myCircle1.Area ;
// myCircf has the value 18,849 // myCircf has the value 18,849
// myArea1 has the value 28,274 // myArea has the value 28,274
// myArea2 has the value 28,274
END_PROGRAM END_PROGRAM
END_IMPLEMENTATION END_IMPLEMENTATION

SIMOTION ST Structured Text

162 Programming and Operating Manual, 08/2008
 Functions, Function Blocks, and Programs
4.2 Comparison of functions and function blocks

Table 4-7 Example of the differences between FB and FC for the previous example

Function block (FB) Function (FC)

Comments
Reserved words for the definition: Reserved words for the definition:
FUNCTION_BLOCK and END_FUNCTION_BLOCK FUNCTION and END_FUNCTION
No return value permitted. The data type of the return value must be specified after the
name (VOID data type, if no return value).
Input parameters can be used to transfer values to the FB. Input parameters can be used to transfer values to the FC.
In/out parameters can be used to read and write the In/out parameters can be used to read and write the
transferred variables in the FB. transferred variables in the FC.
Output parameters can be used to return values from an FB. No output parameters permitted.
The local variables are static, i.e. they retain their value The local variables are temporary, i.e. they lose their value
between FB calls. when the function is terminated.
The Counter local variable is incremented; its value is Although the Counter local variable is incremented, its value
retained when the FB is terminated. The variable is is lost when the FC is exited. The variable is reinitialized (to
therefore incremented each time the FB is called. 0 in the example) at the next FC call.
To see this behavior: Assign the value of the local variables To see this behavior: Assign the value of the local variables
to a global variable in the FB. Monitor the value of the global to a global variable in the FC. The value of the global
variable after repeated FB calls. variable remains unchanged after repeated FC calls.
In the statement section, the results (return values) are In the statement section, the result (return value) is
assigned to the output or in/out parameters. assigned to the function name (except when VOID data type
is specified).
In the declaration section of the block that executes the call,
an instance of the FB is declared: you declare a variable
and specify the name of the FB as its data type. You use the
declared instance name to call the FB and to access its
output parameters.
The name of the FB itself must not be used in the statement
section.
• You assign a variable to the in/out parameters when the • You assign a variable to the in/out parameters when the
FB instance is called. FB instance is called.
• With the call, you can assign the output parameters to a • To obtain the return value of the FC:
variable. – Assign the function to a variable.
• You can read an FB's output parameters, even outside – Use the function in an expression on the right side of
the FB. For this purpose, use structured variables in the a value assignment.
following format:
FB-instancename.outputparameter.
The program that executes the call cannot access variables The program that executes the call cannot access any
other than the in/out variables and output parameters of the variables other than the return value.
FB.
Exception: For activated "Permit language extensions"
compiler option (see Global compiler settings (Page 45) or
Local compiler settings (Page 46)), the called program can
also access the input parameters of an FB. For this
purpose, use structured variables in the following format:
FB-instancename.inputparameter.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 163
Functions, Function Blocks, and Programs
4.3 Programs

4.3 Programs
Programs are a series of statements placed between the PROGRAM and END_PROGRAM
keywords.

3URJUDP XQIRUPDWWHG

3URJUDPLGHQWLILHU

352*5$0 ,GHQWLILHU

3URJUDPGHFODUDWLRQVHFWLRQ 6WDWHPHQWVHFWLRQ (1'B352*5$0

Figure 4-11 Syntax: Program

Programs are declared in the Implementation section (Page 171) of an ST source file and
are comparable with the FB. Static local variables (VAR...END_VAR) or temporary local
variables (VAR_TEMP...END_VAR) can be created, for example. However, they do not have
any formal parameters and so cannot be called with arguments. Examples for programs are
contained in the Source file with comments (Page 162) and Source text of the sample
program (Page 64) sections.

Assignment of a program in the execution system

By default, programs in the execution system are assigned to a task. The execution behavior
of the programs, e.g. the associated task determines the initialization of the variables. For
more information about the execution system and the tasks, refer to the SIMOTION Basic
Functions Function Manual. This requires that the program in the Interface
section (Page 170) of the ST source file must be specified as the program organization unit
to be exported.

Calling a program in the program ("program in program")

Optionally, a program can also be called within a different program or a function block. This
requires that the following compiler options be activated (see Global settings on the
compiler (Page 45) and Local settings on the compiler (Page 46)):
1. "Permit language extensions" for the program source of the calling program or function
block and
2. "Create program instance data only once" for the program source of the calling program.
The call is performed as for a function with parameters and return value, see following
example.

SIMOTION ST Structured Text

164 Programming and Operating Manual, 08/2008
 Functions, Function Blocks, and Programs
4.3 Programs

NOTICE
The activated "Create program instance data only once" compiler option causes:
• The static variables of the programs (program instance data) are stored in a different
Memory area (Page 194). This also changes the Initialization behavior (Page 204).
• All called programs with the same name use the same program instance data.

Table 4-8 Example for calling a program in a program

PROGRAM my_prog
; // ...
END_PROGRAM

PROGRAM main_prog
; // ...
my_prog();
; // ...
END_PROGRAM
This can be used to perform most of the programming of the assignment of the programs to
the tasks. In the execution system, only each associated calling program needs to be
assigned to the tasks.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 165
Functions, Function Blocks, and Programs
4.4 Expressions

4.4 Expressions
The expression is a special case of a function declaration:
● The data type of the return value is defined as BOOL and is not specified explicitly.
It is used in conjunction with the WAITFORCONDITION statement (Page 139).
An expression can only be declared in the implementation section of the ST source file.

([SUHVVLRQ XQIRUPDWWHG

([SUHVVLRQLGHQWLILHU

(;35(66,21 ,GHQWLILHU

([SUHVVLRQGHFODUDWLRQ 6WDWHPHQW
VHFWLRQ VHFWLRQ (1'B(;35(66,21

1RWHWKDWDQH[SUHVVLRQRIWKH%22/GDWDW\SHPXVWEHDVVLJQHGWRWKHH[SUHVVLRQ
LGHQWLILHULQWKHVWDWHPHQWVHFWLRQ

Figure 4-12 Syntax: Expression

Optionally, the following can be declared in the declaration section:

● Local (temporary) variables
● Local constants
● User-defined data types (UDT)
● Input and in/out parameters (as of Version V4.1 of the SIMOTION kernel)
The following can be accessed in the statement section:
● To the local variables of the expression
● To the input and in/out parameters (provided their declaration is permitted)
● Unit variables
● Global device variables, I/O variables, and the process image
An expression of data type BOOL must be assigned to the expression name in the statement
section of the expression (see figure).

Note
The statement section of the expression cannot contain any function calls or loops.

SIMOTION ST Structured Text

166 Programming and Operating Manual, 08/2008
 Functions, Function Blocks, and Programs
4.4 Expressions

Example
The following example assumes that the feeder program is running in a MotionTask. The
option Activation after StartupTask is selected for this MotionTask. The assignment of
programs to tasks is performed in SIMOTION SCOUT (see SIMOTION Motion Control Basic
Functions function description).

Table 4-9 Example of the use of an EXPRESSION and the WAITFORCONDITION statement

INTERFACE
USEPACKAGE cam;
PROGRAM feeder; // in MotionTask_1
END_INTERFACE

IMPLEMENTATION
// Condition for WAITFORCONDITION statement
EXPRESSION automaticExpr
automaticExpr := IOfeedCam; // Digital input
END_EXPRESSION

PROGRAM feeder
VAR
retVal : DINT ;
END_VAR ;
retVal := _enableAxis (axis := realAxis,
enableMode := ALL,
servoCommandToActualMode := INACTIVE,
nextCommand := WHEN_COMMAND_DONE,
commandId := _getCommandId() );

// Wait until the start condition is satisfied

WAITFORCONDITION automaticExpr WITH TRUE DO
// High-priority execution of all statements
// to the END_WAITFORCONDITION command
retVal := _pos (axis := realAxis,
positioningMode := RELATIVE,
position := 500,
velocityType := DIRECT,
velocity := 300,
velocityProfile := TRAPEZOIDAL,
mergeMode := IMMEDIATELY,
nextCommand := WHEN_MOTION_DONE,
commandId:= _getCommandId() );
END_WAITFORCONDITION;

retVal := _disableAxis (axis := realAxis,

disableMode := ALL,
servoCommandToActualMode := INACTIVE,
nextCommand := WHEN_COMMAND_DONE,
commandId := _getCommandId() );
END_PROGRAM
END_IMPLEMENTATION
Further examples are contained in the SIMOTION Motion Control Basic Functions Function
Manual. In particular, the manual describes how, as of Version V4.1 of the
SIMOTION kernel, you use an EXPRESSION with parameters and, for example, program a
time monitoring in a WAITFORCONDITION statement.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 167
Integration of ST in SIMOTION
This section describes the interoperability of ST programs and SIMOTION SCOUT.
5
5.1 Source file sections
An overview of the meaning of the source file sections was provided in Structure of an ST
source file (Page 86). This section describes details, such as the syntax of the sections and
how to use them to import and export data between several ST source files.

5.1.1 Use of the source file sections

You must follow certain structure and syntax rules in your source file sections (modules), so
that the ST source file can be compiled. A few general guidelines are presented here; details
on source file sections are presented later in this section:
● When creating the source file, you should always pay attention to the order of the source
file sections. A section that is to be called must always precede the calling section;
otherwise the section that is to be called will not recognize the calling section.
For example, variables must always be declared before they are used and functions must
be defined before they are called.
● The source text for the most common source file sections – program, function or function
block – consists of the following:
– Start of section with reserved word and identifier
– Declaration section (optional)
– Statement section
– End of section with reserved word
● Identifiers for source file sections – hereinafter referred to as name or name_list - follow
the general syntax rules for identifiers (Identifiers in ST (Page 73)).

Note
A template with all possible source file sections is available in the online help.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 169
Integration of ST in SIMOTION
5.1 Source file sections

5.1.1.1 Interface section

The interface section contains statements for importing and exporting data (data types,
variables, function blocks, functions, and programs). Technology packages and libraries can
also be downloaded.
The interface section has the following syntax:

Table 5-1 Syntax of interface section

Syntax INTERFACE
// Interface statements (optional)
END_INTERFACE
An individual identifier of the section cannot be specified.
Optionally, interface statements exist in the following order between reserved words INTERFACE
and END_INTERFACE.
1. Specification of utilized technology package. Syntax:
USEPACKAGE tp-name [AS namespace];
For more details, refer to the SIMOTION Basic Functions Function Manual.
2. Specification of utilized libraries.
Syntax:
USELIB library-name-list [AS namespace];
For more information, see "Using data types, functions and function blocks from
libraries (Page 230)".
3. Reference to other units in order to use their exported components.
Syntax:
USES unit_name-list;
For more information, see "USES statement in an importing unit (Page 181)".
4. Declarations and specifications for the export
– Data type definitions (Page 176):
User-defined data types (UDT) that are valid in the entire ST source file and that are to be
exported
– Variable declarations (Page 177):
Unit variables and unit constants valid in the entire ST source file and exported.
Permissible keywords: See table in "Variable declaration (Page 177)".
– Information regarding program organization units (POU) to be exported.
Syntax:
FUNCTION fc_name;
FUNCTION_BLOCK fb_name;
PROGRAM program_name;
All technology packages, libraries, imported units, data type declarations, variable declarations
and program organization units listed in the interface section will be exported. For more
information on export, see "Interface section of an exporting unit (Page 179)".
Sequence The interface section is the first section of an ST source file1.
The order of the interface statements 1 to 4 is fixed.
Within number 4, any order is permitted. The individual declaration blocks for data type definitions
and variable definitions can appear more than once.
Attention: Identifiers must be declared before they are used.
Frequency Once per ST source file
Mandatory section yes
1 Optionally, the unit statement can precede the interface section (see "Identifier of the unit (Page 179)".

SIMOTION ST Structured Text

170 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.1 Source file sections

5.1.1.2 Implementation section

The implementation section contains the executable sections, comprising the main part of
the ST source file.
The implementation section has the following syntax:

Table 5-2 Syntax of the implementation section

Syntax IMPLEMENTATION
// Implementation statements (optional)
END_IMPLEMENTATION
An individual identifier of the section cannot be specified.
Optionally, implementation statements (main part of the ST source file) exist in the following order
between the reserved words IMPLEMENTATION and END_IMPLEMENTATION:
1. Reference to other units in order to use their exported components. Syntax:
USES unit_name-list;
For more information, see "USES statement in an importing unit (Page 181)".
2. Declarations
– Data type definitions (Page 176):
User-defined data types (UDT) that are valid in the entire ST source file
– Variable declarations (Page 177):
Unit variables and constants that are valid in the entire ST source file
Permissible keywords: See table in "Variable declaration (Page 177)".
3. Program organization units (POUs) (Page 171)
Sequence Always follows the interface section.
The order of the implementation statements indicated above is mandatory; within number 2 and 3,
any order is permitted:
Attention: Identifiers must be declared before they are used.
Frequency Once per ST source file
Mandatory section yes

5.1.1.3 Program organization units (POUs)

POUs are the executable source file sections:
● Functions (FC) (Page 172)
● Expressions (Page 174)
● Function blocks (FB) (Page 173)
● Programs (Page 174)

Note
Called POUs always precede the calling POUs so that they are recognized by the latter.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 171
Integration of ST in SIMOTION
5.1 Source file sections

5.1.1.4 Functions (FCs)

Functions (FC) are classified as program organization units (POUs). Functions are
paramterized source file sections with temporary data that can be called from programs and
function blocks. All internal variables lose their values when the function is exited and are
reinitialized the next time the function is called.
FCs have the following syntax:

Table 5-3 Syntax of functions (FCs)

Syntax FUNCTION name : function_data_type

// Declaration section
// Statement section
END_FUNCTION
name stands for the identifier of the function, while function_data_type stands for the data type of
the return value.
Permissible keywords for the variable declaration in the declaration section: See table in "Variable
declaration (Page 177)".
Note the following for functions with function_data_type <> VOID: In the statement section, an
expression of data type function_data_type must be assigned to the function identifier!
Sequence FCs can only be defined in the implementation section.
Pay attention to the order: FCs must come before the POUs from which they are called!
The declaration section (Page 175) must precede the statement section (Page 176).
Frequency Any number of times per ST source file
Mandatory section no
For information on functions (FC), see Creating and calling functions and function
blocks (Page 147).

SIMOTION ST Structured Text

172 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.1 Source file sections

5.1.1.5 Function blocks (FBs)

Function blocks (FB) are classified as program organization units (POUs). They are source
file sections with static data that can be called from programs and assigned parameters
(internal variables retain their value between calls). Since an FB has memory, its output
parameters can be accessed at any time and from any point in the user program.
FBs have the following syntax:

Table 5-4 Syntax of the function blocks

Syntax FUNCTION_BLOCK name

// Declaration section
// Statement section
END_FUNCTION_BLOCK
name stands for the identifier of the function block.
Permissible keywords for the variable declaration in the declaration section: See table in "Variable
declaration (Page 177)".
Special features Before you call a function block (FB), you must declare an instance: You declare a variable and
enter the identifier of the function block as the data type. You can declare the instance locally
(within VAR / END_VAR in the declaration sections of a program or a function block).
You can declare the instance globally (within VAR_GLOBAL / END_VAR in the interface or
Implementation section), however, not using function blocks defined in the same ST source file.
This is possible only with function blocks made available by imported program source files and
libraries.
You cannot declare an instance of an FB in FCs.
Sequence FBs can only be defined in the implementation section.
Pay attention to the order: FBs must precede the POE in which an instance is declared as local
variable.
The declaration section (Page 175) must precede the statement section (Page 176).
Frequency Any number of times per ST source file
Mandatory section no
For information on the FB, see Creating and calling functions and function
blocks (Page 147).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 173
Integration of ST in SIMOTION
5.1 Source file sections

5.1.1.6 Programs
Programs are classified as program organization units (POUs). They are called on the target
system according to their task assignment (see Configuring the execution system in the
SIMOTION Basic Functions Function Manual) and can call FCs and FBs.
Programs have the following syntax:

Table 5-5 Syntax of the programs

Syntax PROGRAM name

// Declaration section
// Statement section
END_PROGRAM
name stands for the name of the program.
Permissible keywords for the variable declaration in the declaration section: See table in "Variable
declaration (Page 177)".
Sequence Programs can only be defined in the implementation section.
It is advantageous to place programs after expressions, FCs, and FBs. This enables the program
to recognize and use the source file sections.
The declaration section (Page 175) must precede the statement section (Page 176).
Frequency Any number of times per ST source file
Mandatory section no
For more information about programs, see Programs (Page 164).

5.1.1.7 Expressions
Expressions are a special case of a function declaration with the specified data type BOOL
of the return value. The expression within the EXPRESSION <expression identifier> ...
END_EXPRESSION reserved words assigned to the function name is evaluated.
You can use the WAITFORCONDITION construct to wait directly for a programmable event
or condition in a MotionTask. The statement suspends the task that called it until the
condition (expression) is true.

SIMOTION ST Structured Text

174 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.1 Source file sections

Expressions have the following syntax:

Table 5-6 Syntax of the expressions

Syntax EXPRESSION name

// Declaration section
// Statement section
END_EXPRESSION
name stands for the identifier of the expression.
Permissible keywords for the variable declaration in the declaration section: See table in "Variable
declaration (Page 177)".
Attention: In the statement section, an expression of data type BOOL must be assigned to the
expression identifier!
Sequence An expression can only be declared in the implementation section of an ST source file.
Therefore, expressions precede the program in which they are called from a
WAITFORCONDITION control structure.
The declaration section (Page 175) must precede the statement section (Page 176).
Frequency Any number of times per ST source file
Mandatory section no
For more information on expressions, see Expressions (Page 166). In conjunction with the
WAITFORCONDITION statement, see SIMOTION Basic Functions Function Manual.

5.1.1.8 Declaration section

The declaration section of a program organization unit (POU) contains the data type
definition and the variable declaration of the POU.
The declaration section has the following structure:

Table 5-7 Structure of the declaration section

Structure // Data type definition

// Variable declaration
Sequence The declaration section has no explicit keywords at the start or end. It begins after the keyword of
the respective program organization unit (POU) and ends with the first executable statement of
the statement section.
It contains the following in any order:
• Data type definitions (Page 176):
User-defined data types (UDT) that are valid locally in the POU
• Variable declarations (Page 177):
Variables and constants that are valid locally in the POU
Permissible keywords according to the respective POU: See table in "Variable
declaration (Page 177)".
Attention: Identifiers must be declared before they are used.
Frequency Once per POU
Mandatory section no

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 175
Integration of ST in SIMOTION
5.1 Source file sections

5.1.1.9 Statement section

The statement section of a POU consists of the individual (executable) statements.
The statement section has the following structure:

Table 5-8 Structure of the statement section

Structure // Statements
Sequence The statement section has no explicit keywords at the start or end. It begins after the declaration
section and ends with the keyword of the respective POU.
Frequency Once per POU
Mandatory section no
For more information on statements, see
● Value assignments and expressions (Page 112)
● Control statements (Page 130)
● Calling functions and function blocks (Page 153)

5.1.1.10 Data type definition

For the data type definition, you specify user-defined data types (UDT). You can use them
for variable declarations. UDTs can be defined in the interface section, the implementation
section, and the declaration section of FCs, FBs, and programs.
The data type definition has the following syntax:

Table 5-9 Syntax of the data type definition

Syntax TYPE
name : data_type_specification;
// ...
END_TYPE
name represents the name of the individual data type that you use for the Variable declarations.
data_type_specification stands for any data type or a structure. Any number of individual data
types can appear between TYPE and END_TYPE.
Sequence You can define UDTs as follows:
• In the Interface section:
The UDTs are recognized within the ST source file and will be exported
They can be used in the interface and implementation section for declaration of unit variables
and in all POUs for declaration of local variables.
In addition, they can be used in all units which import this ST source file (in SIMOTION ST
with the USES statement).
• In the Implementation section:
The UDTs are recognized within the ST source file
They can be used in the implementation section for declaration of unit variables and in all
POUs for declaration of local variables.
• In the Declaration section of a POU (FC, FB, program, expression)
The UDTs are only recognized locally within the POU
They can only be used within the POU for declaration of local variables.
UDTs must be defined before they are used in a variable declaration.

SIMOTION ST Structured Text

176 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.1 Source file sections

Frequency The TYPE / END_VAR declaration block may appear more than once in a source file section; any
number of UDTs are possible within a declaration block.
Mandatory section no
For more information about the UDT, see User-defined data types (Page 94).

5.1.1.11 Variable declaration

A declaration section contains variable declarations and can itself be contained in FCs, FBs,
and programs (POUs) as well as in the interface section and the implementation section.
The variable declaration has the following syntax:

Table 5-10 Syntax of variable declaration

Syntax variable_type
name_list : data_type;
// ...
END_VAR
variable_type represents the keyword of the variable type being declared. The permitted
keywords depend on the source file section.
• In the Interface section or Implementation section of an ST source file:
VAR_GLOBAL: Non-retentive unit variable
VAR_GLOBAL CONSTANT: Unit constant
VAR_GLOBAL RETAIN: Retentive unit variable
• In the Declaration section of a function:
VAR: Local variable
VAR CONSTANT: Local constant
VAR_INPUT: Input parameter
VAR_IN_OUT: In/out parameter
• In the Declaration section of a function block:
VAR: Local variable
VAR CONSTANT: Local constant
VAR_TEMP: Temporary variable
VAR_INPUT: Input parameter
VAR_OUTPUT: Output parameter
VAR_IN_OUT: In/out parameter
• In the Declaration section of a program:
VAR: Local variable
VAR CONSTANT: Local constant
VAR_TEMP: Temporary variable
• In the Declaration section of an expression:
VAR: Local variable
VAR CONSTANT: Local constant
VAR_INPUT: Input parameter (as of Version 4.1 of the SIMOTION kernel)
VAR_IN_OUT: In/out parameter (as of Version 4.1 of the SIMOTION kernel)
name_list is the list of identifiers of the data_type data type to be declared.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 177
Integration of ST in SIMOTION
5.1 Source file sections

Sequence The variable is declared:

• In the Interface section of the ST source file:
Permissible keywords: see table field syntax.
The unit variables are recognized within the ST source file and will be exported.
They can be used in all POUs of the ST source file.
In addition, they can be used in all units which import this ST source file (in SIMOTION ST
with the USES statement).
• In the Implementation section of the ST source file:
Permissible keywords: see table field syntax.
The unit variables are recognized within the ST source file.
They can be used in all POUs of the ST source file.
• In the Declaration section of a POU (FC, FB, program, expression)
Permissible keywords according to the type of POU: See table cell Syntax.
The variables are only recognized locally within the POU.
They can only be used within the POU for declaration of local variables.
Exceptions:
– You can also access the output parameters of a function block outside the FB.
– You can access the input parameters of a function block outside the FB provided the
"Permit language extensions" compiler option has been activated. See Global settings of
the compiler (Page 45) and Local settings of the compiler (Page 46).
Variables must be declared before they are used.
Frequency The number of times the variable_type / END_VAR declaration block of a specific variable type
can appear depends on the associated source file section:
• In the interface and implementation section of the ST source:
The declaration blocks may appear more than once.
• In the declaration section of a POU (FC, FB, program, expression):
Each declaration block (other than VAR CONSTANT / END_VAR) may appear just once in the
declaration section.
Permitted declaration blocks and keywords depending on the associated source file section: See
table cell Syntax.
Any number of variable declarations are possible within a declaration block.
Mandatory section no
For more information about variable declarations, see Variable declaration (Page 105).

SIMOTION ST Structured Text

178 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.1 Source file sections

5.1.2 Import and export between ST source files

ST applies the unit concept, where you can access the global variables, data types,
functions (FCs), function blocks (FBs), and programs of other source files. Thus, for
example, you can compile reusable subroutines and make them available.

5.1.2.1 Unit identifier

Below, unit refers to a program source file (e.g. ST source file, MCC source file). The name
of the program source file defined in SIMOTION SCOUT is applied as the identifier.
Optionally, you can set the unit statement as first statement for an ST source file (preceding
the interface section). Syntax:

UNIT name;

name corresponds to the name of the ST source file defined in SIMOTION SCOUT, see Add
ST source (Page 21) or Change the properties of an ST source file (Page 23).
The unit statement is ignored if the name specified there differs from the name of the ST
source file.

5.1.2.2 Interface section of an exporting unit

You can enter the following constructs in the interface section of an exporting unit. The
syntax of the constructs is only implied here, for details, see "Interface section (Page 170)".
● The type declarations to be exported
TYPE
User-defined data types with their complete declaration.
● The variable declarations to be exported
VAR_GLOBAL, VAR_GLOBAL RETAIN, or VAR_GLOBAL CONSTANT
Non-retentive and retentive unit variables and unit constants with their complete
declaration.
● POUs (functions, function blocks, and programs) to be exported
Specify each POU (function, function block, or program) to be exported with the relevant
keyword. Close each entry with a semicolon.
– FUNCTION_BLOCK fb_name ;
– FUNCTION fc_name ;
– PROGRAM program_name ;
Specifications can be made in any order; the POU itself is programmed in the
implementation section of the ST source file.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 179
Integration of ST in SIMOTION
5.1 Source file sections

Note
The following further specifications are possible in the interface section, they are listed
before the exported data types, variables and POU:
1. Specification of utilized technology packages (USEPACKAGE …).
2. Specification of utilized libraries (USELIB …).
3. Reference to other units in order to use their exported units (USES …).
These imported technology packages, libraries and units are also exported. For inheritance,
see "USES statement in an importing unit (Page 181)".
You must adhere to the order presented for the specifications in the interface section of a
unit (ST source file), see "Interface section (Page 170)". Otherwise, error-free compilation of
the ST source file will not be possible.

The programs of an ST source file must be listed in the interface section so that they can be
assigned to a task in the execution system (see Configuring the execution system in the
SIMOTION Basic Functions Function Manual). The compiler outputs a warning message if
programs cannot be exported in the interface section of an ST source file.
Functions and function blocks that are only used in the ST source file should not be listed in
the interface section.

SIMOTION ST Structured Text

180 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.1 Source file sections

5.1.2.3 Example of an exporting unit

Below is an example of an exporting unit (myUnit_A). It is imported by myUnit_B (see
Example of an importing unit (Page 183)).

Table 5-11 Example of an exporting unit

UNIT myUnit_A; // Optional, name of the ST source file

INTERFACE
// ... USES statement also possible here
TYPE // Declaration of data types to be exported
color : (RED, GREEN, BLUE);
END_TYPE
VAR_GLOBAL
cycle : INT := 1; // Declaration of the
// unit variables to be exported
END_VAR
FUNCTION myFC; // Export statement of an FC
FUNCTION_BLOCK myFB; // Export statement of an FB
PROGRAM myProgram_A; // Export statement of a program
// (to interface with the execution system)
END_INTERFACE

IMPLEMENTATION
Function myFC : LREAL // Function written out
; // ... (Statements)
END_FUNCTION

Function_BLOCK myFB // Function block written out

; // ... (Statements)
END_FUNCTION_BLOCK

PROGRAM myProgram_A // Program written out

; // ... (Statements)
END_PROGRAM
END_IMPLEMENTATION

5.1.2.4 USES statement in an importing unit

Enter the following statement in the interface or implementation section of an importing unit:

USES unit_name-list
unit_name-list is a list of units separated by commas from which the modules are to be
imported.
Example:

USES unit_1, unit_2, unit_3;

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 181
Integration of ST in SIMOTION
5.1 Source file sections

This enables you to access the following elements specified or declared in the interface
section of the imported unit (e.g. ST source file, MCC source):
● User-defined data types (UDT)
● Unit variables and unit constants
● Programs, functions and function blocks
● Imported technology packages, libraries and units
You can use the imported elements as if they existed in the current unit.

Note
The keyword USES can only occur once in the interface section or in the implementation
section of a unit. When multiple units are to be imported, enter them as a list separated by
commas after the keyword USES.

The USES statement can appear in either the interface section or the implementation section
of a unit. This has far-reaching implications:

Table 5-12 Implications regarding placement of USES statement in interface section or in implementation section

Effect USES statement USES statement

in the interface section in the implementation section
Inheritance The current unit continues exporting the Inheritance is interrupted.
imported unit; the imported unit is inherited by Example:
all other units that access the current unit.
1. Unit B imports Unit A in the implementation
Example: section.
1. Unit B imports Unit A in the interface 2. Unit C in turn imports Unit B.
section. 3. Then Unit C has no automatic access to
2. Unit C in turn imports Unit B. Unit A.
3. Then Unit C also imports Unit A Unit C must explicitly import Unit A if it wants to
automatically. access Unit A.
A→B→C ⇒A→C
Because of inheritance, Unit A must not be
imported explicitly into Unit C.
Variable declaration The declaration of a unit variable of an imported The declaration of a unit variable of an imported
data type is possible in: data type is only possible in the implementation
• Interface section section.
• Implementation section

Note
You will find tips for use of unit variables in the SIMOTION Basic Functions Function Manual.

SIMOTION ST Structured Text

182 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.1 Source file sections

5.1.2.5 Example of an importing unit

Below is an example of an importing unit (myUnit_B). It imports the unit myUnit_A from
Example of an exporting unit (Page 181).

Table 5-13 Example of an importing unit

UNIT myUnit_B; // Optional, name of the ST source file
INTERFACE
// ... if required, USES statement
PROGRAM myProgram_B;
// Specification of programs to be exported, FB, FC
// Data types and unit variables
END_INTERFACE

IMPLEMENTATION
USES myUnit_A; // Specification of unit to be imported

VAR_GLOBAL
myInstance : myFB; // Declaration of an instance
// of the imported FB
mycolor : color; // Declaration of a variable
// of the imported data type
END_VAR

PROGRAM myProgram_B

mycolor := GREEN; // Value assignment to a variable of the

// data type to be imported
cycle := cycle + 1; // Value assignment to
// imported variable
END_PROGRAM
END_IMPLEMENTATION

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 183
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

5.2 Variables in SIMOTION

This summarizes the variables available in ST.

5.2.1 Variable model

The following table shows all the variable types available for programming with ST.
● System variables of the SIMOTION device and the technology objects
● Global user variables (I/O variables, device-global variables, unit variables)
● Local user variables (variables within a program, a function or a function block)

System variables

Variable type Meaning

System variables of the Each SIMOTION device and technology object has specific system variables. These can be
SIMOTION device accessed as follows:
System variables of • Within the SIMOTION device from all programs
technology objects • From HMI devices
You can monitor system variables in the symbol browser.

Global user variables

Variable type Meaning

I/O variables You can assign symbolic names to the I/O addresses of the SIMOTION device or the
peripherals. This allows you to have the following direct accesses and process image
accesses to the I/O:
• Within the SIMOTION device from all programs
• From HMI devices
You create these variables in the symbol browser after you have selected the I/O element
in the project navigator.
You can monitor I/O variables in the symbol browser.
Global device variables User-defined variables which can be accessed by all SIMOTION device programs and HMI
devices.
You create these variables in the symbol browser after you have selected the GLOBAL
DEVICE VARIABLES element in the project navigator.
Global device variables can be defined as retentive. This means that they will remain stored
even when the SIMOTION device power supply is disconnected.
You can monitor global device variables in the symbol browser.

SIMOTION ST Structured Text

184 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Variable type Meaning

Unit variables User-defined variables that all programs, function blocks, and functions (e.g. ST source,
MCC source, LAD/FBD source) can access within a unit.
Declare these variables in the unit:
• In the interface section:
You can import these variables into other units (ST source files, MCC source files,
LAD/FBD source files) and they are also available on HMI devices as standard.
• In the implementation section:
You can only access these variables within the associated unit.
You can declare unit variables as retentive. This means that they will remain stored even
when the SIMOTION device power supply is disconnected.
You can monitor unit variables in the symbol browser.

Local user variables

Variable type Meaning

User-defined variables which can be accessed from within the program (or function,
function block) in which they were defined.
Variable of a program Variable is declared in a program. The variable can only be accessed within this program. A
(program variable) differentiation is made between static and temporary variables:
• Static variables are initialized according to the memory area in which they are stored.
Specify this memory area by means of a compiler option. By default, the static variables
are initialized depending on the task to which the program is assigned (see SIMOTION
Basic Functions Function Manual).
You can monitor static variables in the symbol browser.
• Temporary variables are initialized every time the program in a task is called.
Temporary variables cannot be monitored in the symbol browser.
Variable of a function (FC Variable is declared in a function (FC). The variable can only be accessed within this
variable) function.
FC variables are temporary; they are initialized each time the FC is called. They cannot be
monitored in the symbol browser.
Variable of a function block Variable is declared in a function block (FB) source. The variable can only be accessed
(FB variable) within this function block. A differentiation is made between static and temporary variables:
• Static variables retain their value when the FB terminates. They are initialized only when
the instance of the FB is initialized; this depends on the variable type with which the
instance of the FB was declared.
You can monitor static variables in the symbol browser.
• Temporary variables lose their value when the FB terminates. The next time the FB is
called, they are reinitialized.
Temporary variables cannot be monitored in the symbol browser.

Further information is available from the following sources:

● In the corresponding list manuals, you can find the compressed information on all system
variables of the SIMOTION technology packages and SIMOTION devices.
● For more details on the use of system variables of technology objects, please refer to the
SIMOTION Motion Control Technology Objects Function Manuals.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 185
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

● In the SIMOTION Basic Functions Function Manual you can find information on how to
access system variables and configuration data.
● This documentation contains information on:
– Access to I/O addresses with I/O variables (see Direct access and process image of
cyclic tasks (Page 214))
– Process image access (see ),
– Creation and use of global device variables (see Use of global device
variables (Page 193)),
– Use of unit variables and local variables (static and temporary variables).

Note
Please note that downloading the ST source file to the target system and running
tasks affect variable initialization and thus the contents of the variables, see Time of
the variable initialization (Page 200).

See also
Access to fixed process image of the BackgroundTask (Page 220)

5.2.1.1 Unit variables

Unit variables are valid throughout the entire ST source file, i.e. they can be accessed in any
source file section.
Unit variables are declared in the interface and/or implementation section of an ST source
file; the location of the declaration determines the validity of the unit variable:
● If you declare the unit variables in the interface section, you create variables that can be
used in other program sources (e.g. ST source files, MMC units). For more on importing
and exporting between program source files, see Import and export between ST source
files (Page 179).
By default, these unit variables are also available on HMI devices. The total size of the
unit variables that can be exported to HMI devices is limited to 64 KB per unit.
● If you declare the unit variables in the implementation section, you create variables that
can be used by all program organization units (POUs) of the current source file.
You can change the default setting for the HMI export of the unit variables using a pragma
within a declaration block, see Variables and HMI devices (Page 208) and Controlling
compiler with attributes (Page 247).
You can define unit variables with different behavior, e.g. in case of power failure:
● Non-retentive unit variables (keyword VAR_GLOBAL): its value is lost in the event of a
power failure.
● Retentive unit variables (keyword VAR_GLOBAL RETAIN): its value remains in the event
of a power failure.
● Unit constants (keyword VAR_GLOBAL CONSTANT): its value is retained unchanged
(see Constants (Page 111)).
You will find tips for the efficient use of unit variables in the SIMOTION Basic Functions
Function Manual.

SIMOTION ST Structured Text

186 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

5.2.1.2 Non-retentive unit variables

Non-retentive unit variables lose their value in the event of a power failure.

8QLW9DULDEOHV*OREDO9DULDEOH%ORFN 8QIRUPDWWHG

9DULDEOHGHFODUDWLRQ

9$5B*/2%$/ 6\PEROLF3,DFFHVV (1'B9$5

,QVWDQFH
GHFODUDWLRQ

Figure 5-1 Syntax: Unit variables

This declaration block may appear more than once within an interface or implementation
section. You specify the variable name and data type for the variable declaration (see
Overview of all variable declarations (Page 106) and Initialization of variables or data
types (Page 107)).
For the scope of the declaration and the HMI export, see Unit variables (Page 186).

Note
For initialization of the non-retentive unit variables:
• See Initialization of non-retentive global variables (Page 202).
• The behavior during downloading can be set (Options > Settings menu command, Project
Download tab, Initialize all non-retentive device-global variables and program data
checkbox)
• The type of version ID and therefore the initialization behavior on downloading depends
on the SIMOTION Kernel version. For details, see Version ID of global variables and their
initialization during download (Page 207).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 187
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Table 5-14 Examples of non-retentive unit variables

INTERFACE
VAR_GLOBAL //These variables can be exported.
rotation1 : INT;
field1 : ARRAY [1..10] OF REAL;
flag1 : BOOL;
motor1 : motor; // Instance declaration
END_VAR
END_INTERFACE
IMPLEMENTATION
VAR_GLOBAL //These variables cannot be exported
// MotionTask.
rotation2 : INT;
field2 : ARRAY [1..10] OF REAL;
flag2 : BOOL;
motor2 : motor; // Instance declaration
END_VAR
END_IMPLEMENTATION

5.2.1.3 Retentive unit variables

Retentive unit variables permit permanent storage of variable values even throughout a
power failure.

5HWHQWLYHYDULDEOHEORFN XQIRUPDWWHG

9$5B*/2%$/5(7$,1 9DULDEOHGHFODUDWLRQ (1'B9$5

Figure 5-2 Syntax: Retentive variable block

This declaration block may appear more than once within an interface or implementation
section. You specify the variable name and data type for the variable declaration (see
Overview of all variable declarations (Page 106) and Initialization of variables or data
types (Page 107)).
For the scope of the declaration and the HMI export, see Unit variables (Page 186).

SIMOTION ST Structured Text

188 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Note

• For initialization of the retentive unit variables:

– See Initialization of retentive global variables (Page 201).
– The behavior during downloading can be set (Options > Settings menu command,
Project Download tab, Initialize all retentive device-global variables and program data
checkbox).
– The type of version ID and therefore the initialization behavior on downloading
depends on the SIMOTION Kernel version. For details, see Version ID of global
variables and their initialization during download (Page 207).
• The amount of memory available for retentive variables depends on the device (see
quantity framework in the SIMOTION SCOUT Configuration Manual).
To make efficient use of limited memory space, use the memory in a single ST source file
and sort the variables in descending order!
• Check the capacity utilization of the retentive memory in SIMOTION SCOUT.
In online mode, call the device diagnostics of the SIMOTION device to be checked (see
online help). In the System utilization tab under Retentive data, you can see how much
memory is available.

Table 5-15 Examples of retentive variables

VAR_GLOBAL RETAIN
Measuring field : ARRAY[1.0.10] OF REAL;
Pass : INT;
Switch: BOOL;
END_VAR

5.2.1.4 Local variables (static and temporary variables)

Local variables are valid only in the source file section (e.g. program, FC or FB) in which
they were declared. We distinguish between the following:
● Static variables (Page 191):
Static variables retain their value over all passes of the source file section (block
memory).
● Temporary variables (Page 192):
Temporary variables are initialized each time the source file section is called again.
See also: Initialization of local variables (Page 204).

Note
Local variables cannot be accessed outside the source file section in which they were
declared.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 189
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

The following table provides an overview of the declaration of static and temporary variables.
It shows the source file sections in which these variables can be declared and the keywords
that can be used to declare them.

Table 5-16 Keywords for declaring static and temporary variables depending on source file section.

Source file section Keywords for the declaration

Static variables Temporary variables
Function – VAR / END_VAR
or
VAR_INPUT / END_VAR
or
VAR_IN_OUT / END_VAR2
Expression – VAR / END_VAR
or
VAR_INPUT / END_VAR
or
VAR_IN_OUT / END_VAR2
Function block VAR / END_VAR1 VAR_TEMP / END_VAR
or or
VAR_INPUT / END_VAR1 VAR_IN_OUT / END_VAR2
or
VAR_OUTPUT / END_VAR1
Program VAR / END_VAR3 VAR_TEMP / END_VAR
1 The initialization of the variable depends on initialization of the declared instance. See Initialization of instances of
function blocks (FBs) (Page 205).
2 The reference (pointer) for the transferred variable is temporary.
3The initialization of the variables depends on the memory area in which they are stored. See Initialization of static
program variables (Page 204).

Note
Please note that downloading the ST source file to the target system and running tasks
affect variable initialization and thus the contents of the variables, see Time of the variable
initialization (Page 200).

SIMOTION ST Structured Text

190 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Table 5-17 Examples of static and temporary variables

IMPLEMENTATION
FUNCTION testFkt
VAR // Declaration of temporary variables
flag : BOOL;
END_VAR
END_FUNCTION
FUNCTION_BLOCK testFbst;
VAR // Declaration of static variables
rotation1 : INT;
END_VAR

VAR_TEMP // Declaration of temporary variables

help1, help2 : REAL;
END_VAR
END_FUNCTION_BLOCK
PROGRAM testPrg;
VAR // Declaration of static variables
rotation2 : INT;
END_VAR

VAR_TEMP // Declaration of temporary variables

help1, help2 : REAL;
END_VAR
END_PROGRAM
END_IMPLEMENTATION

5.2.1.5 Static variables

Static variables retain their most recent value when the source file section is exited. This
value is used again at the next call.
The following source file sections contain static variables:
● Programs
● Function blocks
Static variables are declared in a static variable block.

6WDWLFYDULDEOHEORFN XQIRUPDWWHG

9DULDEOHGHFODUDWLRQ

9$5 6\PEROLF3,DFFHVV (1'B9$5

,QVWDQFH
GHFODUDWLRQ

Figure 5-3 Syntax: Static variable block

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 191
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

You can do the following in the static variable block, according to the syntax in the figure:
● Declare variables (name and data type), optionally with initialization.
● Declare symbolic accesses to the process image of the BackgroundTask.
● Declare instances of the function blocks.

For initialization of the static variables:

● In programs: Depending on the execution behavior to which the program is assigned (see
SIMOTION Basic Functions Function Manual).
See also Initialization of static program variables (Page 204).
● In function blocks: Depending on the initialization of the declared instance.
See also Initialization of instances of function blocks (FBs) (Page 205).

5.2.1.6 Temporary variables

Temporary variables are initialized each time the source file section is called. Their value is
retained only during execution of the source file section.
The following source file sections contain temporary variables:
● Programs
● Function blocks
● Functions
● Expression
In functions and expressions, you declare temporary variables in the FB temporary variable
block (see following figure):

7HPSRUDU\YDULDEOHEORFNLQ)%DQGSURJUDP XQIRUPDWWHG

9$5B7(03 9DULDEOHGHFODUDWLRQ (1'B9$5

Figure 5-4 Syntax: Temporary variable block in the FB or program

SIMOTION ST Structured Text

192 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

In functions and expressions, you declare temporary variables in the FC temporary variable
block (see following figure):

7HPSRUDU\YDULDEOHEORFNLQ)& XQIRUPDWWHG

9DULDEOHGHFODUDWLRQ
9$5 (1'B9$5

Figure 5-5 Syntax: Temporary variable block in an FC

5.2.2 Use of global device variables

Global device variables are user-defined variables that you can access from all program
sources (e.g. ST source files, MCC units) of a SIMOTION device.
Global device variables are created in the symbol browser tab of the detail view; to do this,
you must be working in offline mode.
Here is a brief overview of the procedure:
1. In the project navigator of SIMOTION SCOUT, select the GLOBAL DEVICE VARIABLES
element in the SIMOTION device subtree.
2. In the detail view, select the Symbol browser tab and scroll down to the end of the
variable table (empty row).
3. In the last (empty) row of the table, enter or select the following:
– Name of variable
– Data type of variable (only elementary data types are permitted)
4. Optionally, you can make the following entries:
– Selection of Retain checkbox (This declares the variable as retentive, so that its value
will be retained after a power failure.)
– Array length (array size)
– Initial value (if array, for each element)
– Display format (if array, for each element)
You can now access this variable using the symbol browser or any program of the
SIMOTION device.
In ST source files, you can use a global device variable, just like any other variable.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 193
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Note
If you have declared unit variables or local variables of the same name (e.g. var-name),
specify the global device variable with _device.var-name.
An alternative to global device variables is the declaration of unit variables in a separate unit,
which is imported into other units. This has the following advantages:
1. Variable structures can be used.
2. The initialization of the variables during the STOP-RUN transition is possible (via
Program in StartupTask).
3. For newly created global unit variables, a download in RUN is also possible.
Please refer to the SIMOTION Basic Functions Function Manual.

5.2.3 Memory ranges of the variable types

The different variable types are stored in different memory areas, which are initialized at
different times. The table shows:
● The available memory areas for variable types that are declared in ST source files
(possibly dependent on the version of the SIMOTION Kernel).
● The initialization time for each memory area.
An explanation using an example is contained in the Example for memory areas, valid as of
Kernel V3.1 (Page 196) section.

Table 5-18 Memory ranges assigned to different variable types and their initialization

Memory area Assigned variable types Initialization4

Retentive memory Retentive unit variables During download using the download
settings
User memory of unit • Non-retentive unit variables • When the device is switched on
• Function block instances declared with • During download using the download
VAR_GLOBAL, including the associated settings
static variables (VAR, VAR_INPUT, • As of Version V4.1 of the SIMOTION
VAR_OUTPUT) Kernel:
Also for the activated "Create program instance For transition to the RUN mode when
data only once" compiler option (Page 44): the associated declaration block
• Local variables of the unit programs specifies the following pragma:
declared with VAR { BlockInit_OnDeviceRun :=
• Function block instances declared with ALWAYS; }
VAR_GLOBAL, including the associated See also Controlling compiler with
static variables (VAR, VAR_INPUT, attributes (Page 247)
VAR_OUTPUT)

SIMOTION ST Structured Text

194 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Memory area Assigned variable types Initialization4

User memory of task For the deactivated "Create program instance According to execution behavior of task:
data only once" compiler option (Page 44) • Sequential tasks:
(default):
Each time task is started
• Local variables declared with VAR of the • Cyclic tasks:
assigned programs
For CPU transition to the RUN mode
• Function block instances declared with VAR
within the assigned programs, including the
associated static variables (VAR,
VAR_INPUT, VAR_OUTPUT)
Local data stack of the task • Reference (pointer) to the program called in On each call of the program in the task
(as of Version V3.1 of the the task
SIMOTION kernel)2 • Local variables declared with VAR_TEMP of
the program called in the task
• Reference (pointer) to called function block Each time the function block instance is
instances called
• Local variables of function blocks declared
with VAR_TEMP
• In/out parameters of function blocks
declared with VAR_IN_OUT1
• Variables of called functions declared with Each time the function is called
VAR, VAR_INPUT or VAR_IN_OUT1
• Return value of called functions
Local data stack of the task • Copied data of the program called in the On each call of the program in the task
(up to Version V3.0 of the task, including all associated variables
SIMOTION kernel)3 (VAR, VAR_TEMP)
• Copied data from instances of called Each time the function block instance is
function blocks, including all associated called
variables (VAR, VAR_INPUT,
VAR_OUTPUT, VAR_IN_OUT1,
VAR_TEMP)
• Variables of called functions declared with Each time the function is called
VAR, VAR_INPUT or VAR_IN_OUT1
• Return value of called functions
1 References (pointers) to the transferred variables.
2Also for the use of libraries that have been compiled with reference to the SIMOTION device and the associated version
of the SIMOTION kernel (as of Version V3.1). See also Memory requirement of the variables on the local data stack (as of
Kernel V3.1).
3Also for the use of libraries that have been compiled device-dependent (i.e. without reference to a SIMOTION device and
a SIMOTION Kernel version). See also Memory requirement of the variables on the local data stack (up to Kernel V3.0).
4 For a detailed description of the initialization behavior of the individual variable types, see Time of the variable
initialization (Page 200).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 195
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

5.2.3.1 Example of memory areas, valid as of Kernel V3.1

Table 5-19 Example of memory ranges of the variable types, as of Kernel V3.1 (Part 1)
INTERFACE
// The statements in the interface section specify,
// what source content is exported.
FUNCTION FC1;
FUNCTION_BLOCK FB1;
PROGRAM p1;

// Unit variables of the interface section are also visible

// on HMI devices.
VAR_GLOBAL // Non-retentive unit variables
// are present in the UNIT user memory
u1_if : INT;
END_VAR
VAR_GLOBAL CONSTANT // Unit constants are located
// in the unit user memory
END_VAR
VAR_GLOBAL RETAIN // Retentive unit variables are located
// in the retentive (power-fail-safe) memory
END_VAR
END_INTERFACE

IMPLEMENTATION
// The implementation section contains the executable code sections
// in different program organization units (POU)
// A POU can be a program, FC, or FB.
// Unit variables of the implementation section can only be used
// within the source file.
VAR_GLOBAL // Non-retentive unit variables are located
// in the unit user memory
u1_glob : INT;
END_VAR
VAR_GLOBAL CONSTANT // Unit constants are located
// in the unit user memory
END_VAR
VAR_GLOBAL RETAIN // Retentive unit variables are located
// in the retentive (power-fail-safe) memory
END_VAR
//----------------------------------------------------------------------

SIMOTION ST Structured Text

196 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Table 5-20 Example of memory ranges of the variable types, as of Kernel V3.1 (Part 2)
// Continuation
//----------------------------------------------------------------------
FUNCTION_BLOCK FB1 // Declaration of an instance
// instance determines where its data are located:
// - as VAR_GLOBAL in a unit:
// in the unit user memory
// - as VAR in a program:
// in the user memory of the task (default)
// - As VAR in a function block:
// in the user memory of the unit or task,
// depending on the instance declaration of the higher-level FB
// When the instance is called, a pointer to the instance data
// is placed on the stack of the calling task

VAR_INPUT // Input parameters

// are in the user memory
// are written when the instance is called
fb_in : INT;
END_VAR
VAR_OUTPUT // Output parameters
// are in the user memory
fb_out : INT;
END_VAR
VAR_IN_OUT // In/out parameter
// references are in the user memory
// are written when the instance is called
fb_in_out : INT;
END_VAR

VAR // Static variables

// are in the user memory
// can be used locally in the FB
fb_var1 : INT;
END_VAR

VAR_TEMP // Temporary variables

// are on the stack of the calling task
// are initialized on each call
fb_temp1 : INT;
END_VAR

// Code is in the user memory of the unit

fb_var1 := fb_var1 + 1;
fb_out := fb_var1;
fb_temp1 := fb_in_out;
fb_in_out := fb_temp1 + fb_in;
END_FUNCTION_BLOCK
//----------------------------------------------------------------------

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 197
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Table 5-21 Example of memory ranges of the variable types, as of Kernel V3.1 (Part 3)
// Continuation
//----------------------------------------------------------------------
FUNCTION FC1 : INT // The function data is on the
// stack of the calling task; they are initialized each time
// the function is called.
// The return value is on the stack of the calling task

VAR_INPUT // Input parameters

// are on the stack of the calling task
// are written when the function is called
fc_in : INT;
END_VAR

VAR // Temporary variables

// are on the stack of the calling task
fc_var : INT;
END_VAR
// Code is in the user memory of the unit
fc_var := 567;
fc1 := fc_in + fc_var;
END_FUNCTION

PROGRAM p1
VAR // By default, variables are located in the
// in the user memory of the task
p_var : INT;
p_varFB : FB1;
END_VAR

VAR_TEMP // Temporary variables

// are on the stack of the task,
// are initialized on each task pass
p_temp : INT;
END_VAR

// Code is in the user memory of the unit

p_temp := p_var;
p_varFB (fb_in_out := p_temp);
u1_glob := 4711;
END_PROGRAM
END_IMPLEMENTATION

SIMOTION ST Structured Text

198 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

5.2.3.2 Memory requirement of the variables on the local data stack (Kernel V3.1 and higher)
The variables stored on the local data stack of a task are listed in Memory ranges of the
variable types (Page 194). You set the stack size for each task in the task configuration.
Note the following for memory requirements in the local stack:
● Temporary local variables require their own size on the stack.
● Global variables and static local variables do not require any resources on the stack.
If you are using them as input parameters for a function, however, they require their own
data size on the stack.
● Even if a function is called more than once in a task, it only uses the stack's resources
once.
● Variables of type BOOL require one byte on the stack.

Note
The above details are also true for the use of libraries that have been compiled with
reference to the SIMOTION device and the associated version of the SIMOTION kernel (as
of Version V3.1).

NOTICE
If the library is not device-dependent (i.e. compiled without reference to a SIMOTION
device or SIMOTION Kernel version): These libraries are compiled compatible to the
permitted versions of the SIMOTION kernel.
Consequently, the variables of program organization units (POU) called from these libraries
occupy the local data stack as for versions of the SIMOTION kernel up to V3.0. See
Memory requirement of the variables on the local data stack (up to Kernel
V3.0) (Page 199).

You can obtain information about the memory requirements of a POU in the local data stack
using the Program Structure (Page 239) function.

5.2.3.3 Memory requirement of variables on local data stack (Kernel V3.0 and below)
The variables stored on the local data stack of a task are listed in Memory ranges of the
variable types (Page 194). You set the stack size for each task in the task configuration.
Note the following for memory requirements in the local stack:
● Static local variables in programs require double their size on the stack.
● Static local variables in FBs require several times their size on the stack, depending on
the calling depth.
● Temporary local variables (in programs, FBs, and FCs) require their own size on the
stack.
● Global variables do not occupy any stack memory space.
If you are using them as input parameters for a function or function block, however, they
will occupy their usual space on the stack.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 199
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

● Even if a function is called more than once in a task, it only uses the stack's resources
once.
● Variables of type BOOL require one byte on the stack.

NOTICE
When a function block instance is called, all instance data is copied to the local data stack,
even if the instance is declared as a VAR_GLOBAL instance.
If the library is not device-dependent (i.e. compiled without reference to a SIMOTION
device or SIMOTION Kernel version): These libraries are compiled compatible to the
permitted versions of the SIMOTION kernel. Consequently, the variables of program
organization units (POU) called from these libraries occupy the local data stack as
described in this section.
The memory requirement on the local data stack is significantly larger than for versions of
the SIMOTION kernel as of V3.1, see Memory requirement of the variables on the local
data stack (as of Kernel V3.1) (Page 199). Take this into consideration for setting the stack
size for the task configuration!

You can obtain information about the memory requirements of a POU in the local data stack
using the Program Structure (Page 239) function.

5.2.4 Time of the variable initialization

The timing of the variable initialization is determined by:
● Memory area to which the variable is assigned
● Operator actions (e.g. source file download to the target system)
● Execution behavior of the task (sequential, cyclic) to which the program was assigned.
All variable types and the timing of their variable initialization are shown in the following
tables. You will find basic information about tasks in the SIMOTION Basic Functions
Function Manual.
The behavior for variable initialization during download can be set: To do this, as a default
setting select the Options > Settings menu and the Download tab or define the setting during
the current download.

SIMOTION ST Structured Text

200 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Note
You can upload values of unit variables or global device variables from the SIMOTION
device into SIMOTION SCOUT and save them in XML format.
1. Save the required data segments of the unit variables or global device variables as a data
set with the function _saveUnitDataSet.
2. Use the Save variables function in SIMOTION SCOUT.
You can use the Restore variables function to download these data sets and variables back
to the SIMOTION device.
For more information, refer to the SIMOTION SCOUT Configuration Manual.
This makes it possible, for example, to obtain this data, even if it is initialized by a project
download or if it becomes unusable (e.g. due to a version change of SIMOTION SCOUT).

5.2.4.1 Initialization of retentive global variables

Retentive variables retain their last value after a loss of power. All other data is reinitialized
when the device is switched on again.
Retentive global variables are initialized:
● When the backup or buffer for retentive data fails.
● When the firmware is updated.
● When a memory reset (MRES) is performed.
● With the restart function (Del. SRAM) in SIMOTION P350.
● By applying the _resetUnitData function (as of kernel V3.2), possible selectively for
different data segments of the retentive data.
● When a download is performed according to the following description.

Table 5-22 Initializing retentive global variables during download

Variable type Time of the variable initialization

Retentive global The behavior when downloading depends on the Initialization of all retentive global device
device variables variables and program data setting1:
• Yes2: All retentive global device variables are initialized.
• No3:
– As of version V3.2 of the SIMOTION Kernel:
Separate version ID for retentive global device variables. If the version ID is changed, the
retentive global device variables are initialized.
– Up to Version V3.1 of the SIMOTION kernel:
Joint version ID for all global device variables (retentive and non-retentive). If the version
ID is changed, all global device variables are initialized.
See: Version ID of global variables and their initialization during download (Page 207).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 201
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Variable type Time of the variable initialization

Retentive unit The behavior when downloading depends on the Initialization of all retentive global device
variables variables and program data setting1:
• Yes2: All retentive unit variables (all units) are initialized.
• No3:
– As of version V3.2 of the SIMOTION Kernel:
Separate version ID for each individual data block ( = declaration block)4 of the retentive
unit variables in the interface or implementation section. If the version identification is
changed, only the associated data block will be initialized5.
– Up to Version V3.1 of the SIMOTION kernel:
Common version ID for all unit variables (retentive and non-retentive, in the interface and
implementation section) of a unit. If the version ID is changed, all unit variables of this unit
are initialized.
See: Version ID of global variables and their initialization during download (Page 207).
1Default setting in the Options > Settings menu, Download tab,
or the current setting for the download.
2 The corresponding checkbox is active.
3 The corresponding checkbox is inactive.
4Several data blocks for retentive unit variables in the interface or implementation section can be declared only in the
SIMOTION ST programming language. For the SIMOTION MCC and SIMOTION LAD/FBD programming languages, only
one data block for retentive unit variables will be created in the interface or implementation section.
5 Also for the download in RUN, provided the associated prerequisites have been satisfied and the following attribute has
been specified in the associated declaration block within a pragma (only for the SIMOTION ST programming language):
{ BlockInit_OnChange := TRUE; }.
For the download in RUN, see the SIMOTION Basic Functions Function Manual.

5.2.4.2 Initialization of non-retentive global variables

Non-retentive global variables lose their value during power outages. They are initialized:
● For the Initialization of retentive global variables (Page 201), e.g. during a firmware
update or general reset (MRES).
● During power up.
● By applying the _resetUnitData function (as of kernel V3.2), possible selectively for
different data segments of the non-retentive data.
● During the download in accordance with the description on the following table.
● Only as of Version V4.1 of the SIMOTION Kernel and for non-retentive unit variables:
For transition to the RUN mode when the associated declaration block within a pragma
specifies the following attribute (only for SIMOTION ST programming language): {
BlockInit_OnDeviceRun := ALWAYS; }

SIMOTION ST Structured Text

202 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Table 5-23 Initializing non-retentive global variables during download

Variable type Time of the variable initialization

Non-retentive global The behavior when downloading depends on the Initialization of all non-retentive global device
device variables variables and program data setting1:
• Yes2: All non-retentive global device variables are initialized.
• No3:
– As of version V3.2 of the SIMOTION Kernel:
Separate version ID for non-retentive global device variables. If the version ID is changed,
the non-retentive global device variables are initialized.
– Up to Version V3.1 of the SIMOTION kernel:
Joint version ID for all global device variables (retentive and non-retentive). If the version
ID is changed, all global device variables are initialized.
See: Version ID of global variables and their initialization during download (Page 207).
Non-retentive unit The behavior when downloading depends on the Initialization of all non-retentive global device
variables variables and program data setting1:
• Yes2: All non-retentive unit variables (all units) are initialized.
• No3:
– As of version V3.2 of the SIMOTION Kernel:
Separate version ID for each individual data block ( = declaration block)4 of the non-
retentive unit variables in the interface or implementation section. If the version
identification is changed, only the associated data block will be initialized5.
– Up to Version V3.1 of the SIMOTION kernel:
Common version ID for all unit variables (retentive and non-retentive, in the interface and
implementation section) of a unit. If the version ID is changed, all unit variables of this unit
are initialized.
See: Version ID of global variables and their initialization during download (Page 207).
1Default setting in the Options > Settings menu, Download tab,
or the current setting for the download.
2 The corresponding checkbox is active.
3 The corresponding checkbox is inactive.
4Several data blocks for non-retentive unit variables in the interface or implementation section can be declared only in the
SIMOTION ST programming language. For the SIMOTION MCC and SIMOTION LAD/FBD programming languages, only
one data block for non-retentive unit variables will be created in the interface or implementation section.
5 Also for the download in RUN, provided the associated prerequisites have been satisfied and the following attribute has
been specified in the associated declaration block within a pragma (only for the SIMOTION ST programming language):
{ BlockInit_OnChange := TRUE; }.
For the download in RUN, see the SIMOTION Basic Functions Function Manual.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 203
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

5.2.4.3 Initialization of local variables

Local variables are initialized:
● For the initialization of retentive unit variables (Page 201).
● For the initialization of non-retentive unit variables (Page 202).
● Also, according to the following description:

Table 5-24 Initialization of local variables

Variable type Time of the variable initialization

Local program Local variables of programs are initialized differently:
variables • Static variables (VAR) are initialized according to the memory area in which they are stored.
See: Initialization of static program variables (Page 204).
• Temporary variables (VAR_TEMP) are initialized every time the program of the task is called.
Local variables of Local variables of function blocks are initialized differently:
function blocks (FB) • Static variables (VAR, VAR_IN, VAR_OUT) are only initialized when the FB instance is
initialized.
See: Initialization of instances of function blocks (FBs) (Page 205).
• Temporary variables (VAR_TEMP) are initialized every time the FB instance is called.
Local variables of Local variables of functions are temporary and are initialized every time the function is called.
functions (FC)

Note
You can obtain information about the memory requirements of a POU in the local data stack
using the Program Structure (Page 239) function.

5.2.4.4 Initialization of static program variables

The following versions affect the following static variables:
● Local variables of a unit program declared with VAR
● Function block instances declared with VAR within a unit program, including the
associated static variables (VAR, VAR_INPUT, VAR_OUTPUT).
The initialization behavior is determined by the memory area in which the static variables are
stored. This is determined by the "Create program instance data only once" (Page 44)
compiler option.
● For the deactivated "Create program instance data only once" compiler option (default):
The static variables are stored in the user memory of each task, which is assigned to the
program.

SIMOTION ST Structured Text

204 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

The initialization of the variables thus depends on the execution behavior of the task to
which the program is assigned (see SIMOTION Basic Functions Function Manual):
– Sequential tasks (MotionTasks, UserInterruptTasks, SystemInterruptTasks,
StartupTask, ShutdownTask): The static variables are initialized every time the task is
started.
– Cyclic tasks (BackgroundTask, SynchronousTasks, TimerInterruptTasks): The static
variables are initialized only during transition to RUN mode.
● For the activated "Create program instance data only once" compiler option:
This setting is necessary, for example, if a program is to be called within a program.
The static variables are stored only once in the user memory of the task.
– They are thus initialized together with the non-retentive unit variables, see Initialization
of non-retentive global variables (Page 202).
– Only as of Version V4.1 of the SIMOTION Kernel:
In addition, they can be initialized during transition to RUN mode. To do this, the
following attribute must be specified in the associated declaration block within a
pragma (only SIMOTION ST programming language):
{ BlockInit_OnDeviceRun := ALWAYS; }.

5.2.4.5 Initialization of instances of function blocks (FBs)

The initialization of a function block instance (Page 157) is determined by the location of its
declaration:
● Global declaration (within VAR_GLOBAL/END_VAR in the interface of implementation
section):
Initialization as for a non-retentive unit variable, see Initialization of non-retentive global
variables (Page 202).
● Local declaration in a program (within VAR / END_VAR):
Initialization as for static variables of programs, see Initialization of static variables of
programs (Page 204).
● Local declaration in a function block (within VAR / END_VAR):
Initialization as for an instance of this function block.
● Declaration as in/out parameter in a function block or a function (within
VAR_IN_OUT / END_VAR):
For the initialization of the POU, only the reference (pointer) will be initialized with the
instance of the function block remaining unchanged.

Note
You can obtain information about the memory requirements of a POU in the local data
stack using the Program Structure (Page 239) function.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 205
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

5.2.4.6 Initialization of system variables of technology objects

The system variables of a technology object are usually not retentive. Depending on the
technology object, a few system variables are stored in the retentive memory area (e.g.
absolute encoder calibration).
The initialization behavior (except in the case of download) is the same as for retentive and
non-retentive global variables. See Initialization of retentive global variables (Page 201) and
Initialization of non-retentive global variables (Page 202).
The behavior during the download is shown below for:
● Non-retentive system variables
● Retentive system variables

Table 5-25 Initializing technology object system variables during download

Variable type Time of the variable initialization

Non-retentive system Behavior during download, depending on the Initialization of all non-retentive data for technology
variables objects setting1:
• Yes2: All technology objects are initialized.
– All technology objects are restructured and all non-retentive system variables are
initialized.
– All technological alarms are cleared.
• No3: Only technology objects changed in SIMOTION SCOUT are initialized.
– The technology objects in question are restructured and all non-retentive system variables
are initialized.
– All alarms that are pending on the relevant technology objects are cleared.
– If an alarm that can only be acknowledged with Power On is pending on a technology
object that will not be initialized, the download is aborted.
Retentive system Only if a technology object was changed in SIMOTION SCOUT, will its retentive system variables
variables be initialized.
The retentive system variables of all other technology objects are retained (e.g. absolute encoder
calibration).
1Default setting in the Options > Settings menu, Download tab,
or the current setting for the download.
2 The corresponding checkbox is active.
3 The corresponding checkbox is inactive.

SIMOTION ST Structured Text

206 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

5.2.4.7 Version ID of global variables and their initialization during download

Table 5-26 Version ID of global variables and their initialization during download

Data segment As of Version V3.2 of the SIMOTION kernel Up to Version V3.1 of the
SIMOTION kernel
Global device variables
Retentive global • Separate version ID for each data segment of the global • Common version ID for all data
device variables device variables. segments of the global device
• The version identification of the data segment changes variables.
Non-retentive
global device for: • This version ID changes when
variables – Add or remove a variable within the data segment the variable declaration is
changed in a data segment.
– Change of the identifier or the data type of a variable
within the data segment • During downloading2, the rule
is: Initialization of all data
• This version ID does not change on: segments if the version ID
– Changes in the other data segment changes.
– Changes to initialization values1 • Use of the functions for data
• During downloading2, the rule is: Initialization of a data backup not possible.
segment only if its version ID has changed.
• Use of the functions for data backup and initialization
possible.
Unit variables of a unit
Retentive unit • Several data blocks ( = declaration blocks)3 in each data • One data block in each data
variables in the segment possible. segment (also for several
interface section • Own version ID for each data block. declaration blocks)3
Retentive unit • The version identification of the data block changes for: • Common version ID for all
variables in the global declarations in a unit.
– Add or remove a variable in the associated
implementation declaration block • This version ID changes in
section response to the following
– Change of the identifier or the data type of a variable changes:
Non-retentive unit in the associated declaration block
– Variable declaration in a
variables in the – Change of a data type definition (from a separate or data segment
interface section imported4 unit) used in the associated declaration
block – Declaration of global data
Non-retentive unit types in the unit
variables in the – Add or remove declaration blocks within the same
data segment before the associated declaration block – Declaration in the interface
implementation
section of an imported4 unit.
section • This version ID does not change on:
• During downloading2, the rule
– Add or remove declaration blocks in other data is: Initialization of all data
segments segments if the version ID
– Add or remove declaration blocks within the same changes.
data segment after the associated declaration block • Use of the functions for data
– Changes in other data blocks backup only possible for: Non-
– Changes to initialization values1 retentive unit variables in the
interface section
– Changes to data type definitions that are not used in
the associated data block
– Changes to functions
• During downloading2, the rule is: Initialization of a data
block only if its version ID has changed.5
• Functions for data backup and initialization take into
account the version ID of the data blocks.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 207
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Data segment As of Version V3.2 of the SIMOTION kernel Up to Version V3.1 of the
SIMOTION kernel
1 Changed initialization values are not effective until the data block or data segment in question is initialized.
2If Initialization of all retentive global device variables and program data = No and Initialization of all non-retentive global
device variables and program data = No.
In the case of other settings: See the sections "Initialization of retentive global variables (Page 201)" and "Initialization of
non-retentive global variables (Page 202)".
3Several declaration blocks per data segment are possible only in the SIMOTION ST programming language. For the
SIMOTION MCC and SIMOTION LAD/FBD programming languages, only one declaration block per data segment will be
created.
4 The import of units depends on the programming language, refer to the associated section (Page 181).
5Also for the download in RUN, provided the associated prerequisites have been satisfied and the following
attribute (Page 247) has been specified in the associated declaration block within a pragma (Page 242) (only for the
SIMOTION ST programming language): { BlockInit_OnChange := TRUE; }.
For the download in RUN, see the SIMOTION Basic Functions Function Manual.

5.2.5 Variables and HMI devices

The following variables are exported to HMI devices where they are available:
● System variables of the SIMOTION device
● System variables of technology objects
● I/O variables
● Global device variables
● Retentive and non-retentive unit variables of the interface section (default setting).
This default setting can be changed for each declaration block using the following
pragma:
{ HMI_Export := FALSE; }
The unit variables of such an identified declaration block are not exported to HMI devices.
The HMI consistency check is also omitted for them during the download.
See also Controlling compiler with attributes (Page 247).
The following variables are not exported to HMI devices and are not available there:
● Retentive and non-retentive unit variables of the implementation section (default setting).
This default setting can be changed for each declaration block using the following
pragma:
{ HMI_Export := TRUE; }
The unit variables of such an identified declaration block are exported to HMI devices.
Consequently, they are subject to the HMI consistency check during the download.
See also Controlling compiler with attributes (Page 247).
● Local variables of a POU

SIMOTION ST Structured Text

208 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.2 Variables in SIMOTION

NOTICE
The total size of the unit variables that can be exported to HMI devices is limited to 64 KB
per unit.
The effect of the pragma { HMI_Export := FALSE; } and
{ HMI_Export := TRUE; } depends on the version of the SIMOTION Kernel:
• As of Version V4.1 of the SIMOTION Kernel:
The pragma affects the export of the corresponding declaration block to HMI devices
and the structure of the HMI address space:
– Only those variables in declaration blocks exported to HMI devices occupy the HMI
address space.
– Within the HMI address space, the variables are arranged according to order of their
declaration.
• Up to version V3.2 or V4.0 of the SIMOTION kernel:
The pragma affects only the export of the corresponding declaration block to HMI
devices.
The HMI address space is also occupied by unit variables of the interface section whose
declaration blocks are not assigned to HMI devices.
Within the HMI address space, the variables are sorted in the following order:
– Retentive unit variables of the interface section (exported and not exported).
– Retentive unit variables of the implementation section (only exported).
– Non-retentive unit variables of the interface section (exported and not exported).
– Non-retentive unit variables of the implementation section (only exported).
Within these segments, the variables are arranged according to order of their
declaration.
• Up to Version V3.1 of the SIMOTION kernel:
The pragma has no effect.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 209
Integration of ST in SIMOTION
5.2 Variables in SIMOTION

Table 5-27 Example for the control of the HMI export with the corresponding pragma
INTERFACE
VAR_GLOBAL
// HMI export
x1 : DINT;
END_VAR
VAR_GLOBAL
{ HMI_Export := FALSE; }
// No HMI export
x2 : DINT;
END_VAR
// ...
END_INTERFACE

IMPLEMENTATION
VAR_GLOBAL
// No HMI export
y1 : DINT;
END_VAR
VAR_GLOBAL
{ HMI_Export := TRUE; }
// HMI export
y2 : DINT;
END_VAR
// ...
END_IMPLEMENTATION

SIMOTION ST Structured Text

210 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3 Access to inputs and outputs (process image, I/O variables)

5.3.1 Overview of access to inputs and outputs

SIMOTION provides several possibilities to access the device inputs and outputs of the
SIMOTION device as well as the central and distributed I/O:
● Via direct access with I/O variables
Direct access is used to directly access the corresponding I/O address.
Define an I/O variable (name and I/O address) without assigning a task to it. The entire
address space of the SIMOTION device can be used.
It is preferable to use direct access with sequential programming (in MotionTasks);
access to current input and output values at a particular point in time is especially
important in this case.
Further information: Direct access and process image of the cyclic tasks (Page 214).
● Via the process image of cyclic tasks using I/O variables
The process image of the cyclic tasks is a memory area in the RAM of the SIMOTION
device, on which the whole I/O address space of the SIMOTION device is mirrored. The
mirror image of each I/O address is assigned to a cyclic task and is updated using this
task. The task remains consistent throughout the whole cycle. This process image is
used preferentially when programming the assigned task (cyclic programming).
Define an I/O variable (name and I/O address) and assign a task to it. The entire address
area of the SIMOTION device can be used.
Direct access to this I/O variable is still possible: Specify direct access with _direct.var-
name.
Further information: Direct access and process image of the cyclic tasks (Page 214).
● Using the fixed process image of the BackgroundTask
The process image of the BackgroundTask is a memory area in the RAM of the
SIMOTION device, on which a subset of the I/O address space of the SIMOTION device
is mirrored. The mirror image is refreshed with the BackgroundTask and is consistent
throughout the entire cycle. This process image is used preferentially when programming
the BackgroundTask (cyclic programming).
The address space 0 .. 63 can be used. I/O addresses that are accessed using the
process image of the cyclic task are excluded.
Further information: Access to the fixed process image of the
BackgroundTask (Page 220).
A comparison of the most important properties is contained in "Important properties of direct
access and process image (Page 212)".
You can use I/O variables like any other variable, see "Access I/O variables (Page 226)".

Note
An access via the process image is more efficient than direct access.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 211
Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3.2 Important features of direct access and process image access

Table 5-28 Important features of direct access and process image access

Direct access Access to process image of Access to fixed process image

cyclic tasks of the BackgroundTask
Permissible address Entire address range of the SIMOTION device 0 .. 63,
range Exception: I/O variables comprising more than one byte must not except for the addresses used
contain addresses 63 and 64 contiguously (example: PIW63 or in the process image of the
PQD62 are not permitted). cyclic tasks
The addresses used must be present in the I/O and appropriately Addresses that are not present
configured. in the I/O or have not been
configured can also be used.
Assigned task None. Cyclic task for selection: BackgroundTask.
• SynchronousTasks,
• TimerInterruptTasks,
• BackgroundTask.
Updating • Onboard I/O of SIMOTION Update occurs with the An update is made with the
devices C230-2, C240, and assigned task: BackgroundTask:
P350:
• Inputs are read before the • Inputs are read before the
Update occurs in a cycle assigned task is started and BackgroundTask is started
clock of 125 µs. transferred to the process and is transferred to the
• I/O via PROFIBUS DP, input image. process input image.
PROFINET, P-Bus, and • Process output image is • Process output image is
DRIVE-CLiQ as well as written to the outputs after written to the outputs when
Onboard I/O of the D4xx the assigned task has been the BackgroundTask is
SIMOTION devices: completed. complete.
Update occurs in the
position control cycle clock.
Inputs are read at the start of
the cycle clock.
Outputs are written at the end
of the cycle clock.
Consistency – During the entire cycle of the During the entire cycle of the
assigned task. BackgroundTask.
Exception: Direct access to Exception: Direct access to
output occurs. output occurs.
Consistency is only ensured for elementary data types.
When using arrays, the user is responsible for ensuring data
consistency.
Use Preferred in MotionTasks Preferred in the assigned task Preferred in the
BackgroundTask
Use the absolute Not supported. Possible, with the following
address syntax: e.g. %IW62, %Q63.3.
Declaration as Necessary, for the entire device as an I/O variable in the symbol Possible, but not necessary:
variable browser. • for the entire device as an
Syntax of I/O address: e.g. PIW1022, PQ63.3. I/O variable in the symbol
browser,
• As unit variable,
• As local variable in a
program.

SIMOTION ST Structured Text

212 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

Direct access Access to process image of Access to fixed process image

cyclic tasks of the BackgroundTask
Write protection for Possible; Read only status can Not supported. Not supported.
outputs be selected.
Declaration of arrays Possible. Not supported.
Further information Direct access and process image of the cyclic tasks (Page 214). Access to the fixed process
image of the
BackgroundTask (Page 220).
Responses in the Error during access from user Error during generation of Error during generation of
event of an error program, alternative reactions process image, alternative process image, reaction: CPU
available: reactions available: stop2.
• CPU stop1 • CPU stop2 Exception: If a direct access
• Substitution value • Substitution value has been created at the same
• Last value • Last value address, the behavior set there
applies.
Please refer to the SIMOTION Basic Functions function description.
Access
• In RUN mode Without any restrictions. Without any restrictions. Without any restrictions.
• During Possible with restrictions: Possible with restrictions: Possible with restrictions:
StartupTask • Inputs can be read. • Inputs are read at the start • Inputs are read at the start
• Outputs are not written until of the StartupTask. of the StartupTask.
StartupTask is complete. • Outputs are not written until • Outputs are not written until
StartupTask is complete. StartupTask is complete.
• During Without any restrictions. Possible with restrictions: Possible with restrictions:
ShutdownTask • Inputs retain status of last • Inputs retain status of last
update update
• Outputs are no longer • Outputs are no longer
written. written.
1 Call the ExecutionFaultTask.
2 Call the PeripheralFaultTask.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 213
Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3.3 Direct access and process image of cyclic tasks

Properties
Direct access to inputs and outputs and access to the process image of the cyclic task
always take place via I/O variables. The entire address range of the SIMOTION device (see
table below) can be used.
A comparison of the most important properties, also in comparison to the fixed process
image of the BackgroundTask (Page 220) is contained in "Important properties of direct
access and process image (Page 212)".

Direct access
The direct access is used to directly access the corresponding I/O address. Direct access is
used primarily for sequential programming (in MotionTasks). The access to the current value
of the inputs and outputs at a specific time is particularly important.
For direct access, you define an I/O variable (Page 217) without assigning it a task.

Note
An access via the process image is more efficient than direct access.

Process image of the cyclic task

The process image of the cyclic tasks is a memory area in the RAM of the SIMOTION
device, on which the whole I/O address space of the SIMOTION device is mirrored. The
mirror image of each I/O address is assigned to a cyclic task and is updated using this task.
The task remains consistent throughout the whole cycle. This process image is used
preferentially when programming the assigned task (cyclic programming). The consistency
during the complete cycle of the task is particularly important.
For the process image of the cyclical task you define an I/O variable (Page 217) and assign
it a task.
Direct access to this I/O variable is still possible: Specify direct access with _direct.var-name.

SIMOTION ST Structured Text

214 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

Address range of the SIMOTION devices

The address range of the SIMOTION devices depending on the version of the
SIMOTION kernel is contained in the following table. The complete address range can be
used for direct access and process image of the cyclical tasks.

Table 5-29 Address range of the SIMOTION devices depending on the version of the
SIMOTION kernel

SIMOTION device Address range for SIMOTION Kernel version

V3.0 V3.1, V3.2 As of V4.0
C230-2 0 .. 1023 0 .. 2047 3 0 .. 2047 3
C240 – – 0 .. 4096 3
D410 1 – – 0 .. 16383 3 4
D4252 – 0 .. 4095 3 0 .. 16383 3 4
D435 0 .. 1023 0 .. 4095 3 0 .. 16383 3 4
D4452 – 0 .. 4095 3 0 .. 16383 3 4
P350 0 .. 1023 0 .. 2047 3 0 .. 4095 3
1 Available as of V4.1.
2 Available as of V3.2.
For distributed I/O (over PROFIBUS DP), the transmission volume is restricted to 1024 bytes per
34

PROFIBUS DP line.
5For distributed I/O (over PROFINET), the transmission volume is restricted to 4096 bytes per
PROFINET segment.

Note
Observe the rules for I/O addresses for direct access and the process image of the cyclical
tasks (Page 216).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 215
Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3.3.1 Rules for I/O addresses for direct access and the process image of the cyclical tasks

NOTICE
You must observe the following rules for the I/O variable addresses for direct access and
the process image of the cyclic task (Page 214). Compliance with the rules is checked
during the consistency check of the SIMOTION project (e.g. during the download).
1. Addresses used for I/O variables must be present in the I/O and configured
appropriately in the HW Config.
2. I/O variables comprising more than one byte must not contain addresses 63 and 64
contiguously.
The following I/O addresses are not permitted:
– Inputs: PIW63, PID61, PID62, PID63
– Outputs: PQW63, PQD61, PQD62, PQD63
3. All addresses of an I/O variable comprising more than one byte must be within an
address area configured in HW-config.
4. An I/O address (input or output) can only be used by a single I/O variable of data type
BYTE, WORD or DWORD or an array of these data types. Access to individual bits with
I/O variables of data type BOOL is possible.
5. If several processes (e.g. I/O variable, technology object, PROFIdrive telegram) access
an I/O address, the following applies:
– Only a single process can have write access to an I/O address of an output (BYTE,
WORD or DWORD data type).
Read access to an output with an I/O variable that is used by another process for
write access, is possible.
– All processes must use the same data type (BYTE, WORD, DWORD or ARRAY of
these data types) to access this I/O address. Access to individual bits is possible
irrespective of this.
Take care, for example, if you want to use an I/O variable to read the transferred
PROFIBUS telegram of a drive: The length of the I/O variables must match the
length of the telegram.
– Write access to different bits of an address is possible from several processes;
however, write access with the data types BYTE, WORD or DWORD is then not
possible.

Note
These rules do not apply to accesses to the fixed process image of the
BackgroundTask (Page 220). These accesses are not taken into account during the
consistency check of the project (e.g. during download).

SIMOTION ST Structured Text

216 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3.3.2 Creating I/O variables for direct access or process image of cyclic tasks
You create I/O variables in the symbol browser of the detail view; to do this, you must be
working in offline mode.
Here is a brief overview of the procedure:
1. In the project navigator of SIMOTION SCOUT, select the I/O element in the subtree of the
SIMOTION device.
2. In the detail view, select the "Symbol browser" tab and scroll down to the end of the
variable table (empty row).
3. In the last (empty) row of the table, enter or select the following:
– Name of variable.
– I/O address according to the "syntax for entering I/O addresses (Page 219)".
– Optional for outputs:
Activate the "Read only" checkbox if you only want to have read access to the output.
You can then read an output that is already being written by another process (e.g.
output of an output cam, PROFIdrive telegram).
A read-only output variable cannot be assigned to the process image of a cyclic task.
– Data type of the variables in accordance with "Possible data types of the I/O
variables (Page 220)".
4. Optionally, you can also enter or select the following (not for data type BOOL):
– Array length (array size).
– Process image or direct access:
Can only be assigned if the "Read only" checkbox is cleared.
For process image, select the cyclic task to which you want to assign the I/O variable.
To select a task, it must have been activated in the execution system.
For direct access, select the blank entry.
– Strategy for the behavior in an error situation (see SIMOTION Basic Functions
Function Manual).
– Substitute value (if array, for each element).
– Display format (if array, for each element), when you monitor the variable in the
symbol browser.
You can now access this variable using the symbol browser or any program of the
SIMOTION device.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 217
Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

NOTICE
Note the following for the process image for cyclic tasks:
• A variable can only be assigned to one task.
• Each byte of an input or output can only be assigned to one I/O variable.
In the case of data type BOOL, please note:
• The process image for cyclic tasks and a strategy for errors cannot be defined. The
behavior defined via an I/O variable for the entire byte is applicable (default: direct
access or CPU stop).
• The individual bits of an I/O variable can also be accessed using the bit access
functions.
Take care when making changes within the I/O variables (e.g. inserting and deleting I/O
variables, changing names and addresses):
• In some cases the internal addressing of other I/O variables may change, making all I/O
variables inconsistent.
• If this happens, all program sources that contain accesses to I/O variables must be
recompiled.

Note
I/O variables can only be created in offline mode. You create the I/O variables in SIMOTION
SCOUT and then use them in your program sources (e.g. ST sources, MCC sources,
LAD/FBD sources).
Outputs can be read and written to, but inputs can only be read.
Before you can monitor and modify new or updated I/O variables, you must download the
project to the target system.

You can use I/O variables like any other variable, see "Access I/O variables (Page 226)".

SIMOTION ST Structured Text

218 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3.3.3 Syntax for entering I/O addresses

For the input of the I/O address for the definition of an I/O variable for direct access or
process image of cyclical tasks (Page 214), use the following syntax. This specifies not only
the address, but also the data type of the access and the mode of access (input/output).

Table 5-30 Syntax for the input of the I/O addresses for direct access or process image of the cyclic tasks

Data type Syntax for Permissible address range

Input Output Direct access Process image e.g. direct access
D435 V4.1
BOOL PIn.x PQn.x n: 0 .. MaxAddr -1 n: 0 .. 16383
x: 0 .. 7 x: 0 .. 7
BYTE PIBn PQBn n: 0 .. MaxAddr n: 0 .. MaxAddr n: 0 .. 16383
WORD PIWn PQWn n: 0 .. 62 n: 0 .. 62 n: 0 .. 62
64 .. MaxAddr - 1 64 .. MaxAddr - 1 64 .. 16382
DWORD PIDn PQDn n: 0 .. 60 n: 0 .. 60 n: 0 .. 60
64 .. MaxAddr - 3 64 .. MaxAddr - 3 64 .. 16380
n = logical address
x = bit number
MaxAddr = Maximum I/O address of the SIMOTION device depending on the version of the SIMOTION kernel, see
address range of the SIMOTION devices in "direct access and process image of the cyclical
tasks (Page 214)".
1 For data type BOOL, it is not possible to define the process image for cyclic tasks. The behavior defined via an I/O

variable for the entire byte is applicable (default: direct access).

Examples:
Input at logic address 1022, WORD data type: PIW1022.
Output at logical address 63, bit 3, BOOL data type: PQ63.3.

Note
Observe the rules for I/O addresses for direct access and the process image of the cyclical
tasks (Page 216).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 219
Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3.3.4 Possible data types of I/O variables

The following data types can be assigned to the I/O variables for direct access and process
image of the cyclical tasks (Page 214). The width of the data type must correspond to the
data type width of the I/O address.
If you assign a numeric data type to the I/O variables, you can access these variables as
integer.

Table 5-31 Possible data types of the I/O variables for direct access and the process image of the
cyclical tasks

Data type of I/O address Possible data types for I/O variables
BOOL (PIn.x, PQn.x) BOOL
BYTE (PIBn, PQBn) BYTE, SINT, USINT
WORD (PIWn, PQWn) WORD, INT, UINT
DWORD (PIDn, PQDn) DWORD, DINT, UDINT
For details of the data type of the I/O address, see also "Syntax for entering I/O
addresses (Page 219)".

5.3.4 Access to fixed process image of the BackgroundTask

The process image of the BackgroundTask is a memory area in the RAM of the SIMOTION
device, on which a subset of the I/O address space of the SIMOTION device is mirrored. It is
preferably used for programming the BackgroundTask (cyclic programming) as it is
consistent throughout the entire cycle.
The size of the fixed process image of the BackgroundTask for all SIMOTION devices is 64
bytes (address range 0 ... 63).
A comparison of the most important properties in comparison to the direct access and
process image of the cyclical tasks (Page 214) is contained in "Important properties of direct
access and process image (Page 212)".

NOTICE
I/O addresses that are accessed with the process image of the cyclic tasks must not be
used. These addresses cannot be read or written to with the fixed process image of the
BackgroundTask.

Note
The rules for I/O addresses for direct access and the process image of the cyclical
tasks (Page 216) do not apply. The accesses to the fixed process image of the
BackgroundTask are not taken into account during the consistency check of the project (e.g.
during download).
Addresses not present in the I/O or not configured in HW Config are treated like normal
memory addresses.

SIMOTION ST Structured Text

220 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

You can access the fixed process image of the BackgroundTask by means of:
● Using an absolute PI access (Page 221): The absolute PI access identifier contains the
address of the input/output and the data type.
● Using a symbolic PI access (Page 223): You declare a variable that references the
relevant absolute PI access.
– A unit variable
– A static local variable in a program.
● Using an I/O variable (Page 225): In the symbol browser, you define a valid I/O variable
for the entire device that references the corresponding absolute PI access.

NOTICE
Please observe that if the inputs and outputs work with the Little Endian byte order (e.g. the
integrated digital inputs of the SIMOTION devices C230-2 or C240) and the following
conditions are fulfilled:
1. The inputs and outputs are configured to an address 0 .. 62.
2. An I/O variable for direct access (data type WORD, INT or UINT) has been created for
these inputs and outputs.
3. You also access these inputs and outputs via the fixed process image of the
BackgroundTask.
then the following is valid:
• Access with the data type WORD supplies the same result via the I/O variable and the
fixed process image of the BackgroundTask.
• The access to the individual bytes with the _getInOutByte function (see SIMOTION
Basic Functions Function Manual) supplies these in the Little Endian order.
• Access to the individual bytes or bits with the fixed process image of the
BackgroundTask supplies these in the Big Endian order.
For information on the order of the bytes Little Endian and Big Endian: Please refer to the
SIMOTION Basic Functions Function Manual.

5.3.4.1 Absolute access to the fixed process image of the BackgroundTask (absolute PI access)
You make absolute access to the fixed process image of the BackgroundTask (Page 220) by
directly using the identifier for the address (with implicit data type). The syntax of the
identifier (Page 222) is described in the following section.
You can use the identifier for the absolute PI access in the same manner as a normal
variable (Page 222).

Note
Outputs can be read and written to, but inputs can only be read.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 221
Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3.4.2 Syntax for the identifier for an absolute process image access
For the absolute access to the fixed process image of the BackgroundTask (Page 221), use
the following syntax. This specifies not only the address, but also the data type of the access
and the mode of access (input/output).
You also use these identifiers:
● For the declaration of a symbolic access to the fixed process image of the
BackgroundTask (Page 223).
● For the creation of an I/O variables for accessing the fixed process image of the
BackgroundTask (Page 225).

Table 5-32 Syntax for the identifier for an absolute process image access

Data type Syntax for Permissible address range

Input Output
BOOL %In.x %Qn.x n: 0 .. 63 2
or or x: 0 .. 7
%IXn.x1 %QXn.x1
BYTE %IBn %QBn n: 0 .. 63 2

WORD %IWn %QWn n: 0 .. 63 2

DWORD %IDn %QDn n: 0 .. 63 2
n = logical address
x = bit number
1 The syntax %IXn.x or %QXn.x is not permitted when defining I/O variables.
2 Except for the addresses used in the process image of the cyclic tasks.

Examples
Input at logic address 62, WORD data type: %IW62.
Output at logical address 63, bit 3, BOOL data type: %Q63.3.

NOTICE
Addresses that are accessed with the process image of the cyclic tasks must not be used.
These addresses cannot be read or written to with the fixed process image of the
BackgroundTask.

Note
The rules for I/O addresses for direct access and the process image of the cyclical
tasks (Page 216) do not apply. The accesses to the fixed process image of the
BackgroundTask are not taken into account during the consistency check of the project (e.g.
during download).
Addresses not present in the I/O or not configured in HW Config are treated like normal
memory addresses.

SIMOTION ST Structured Text

222 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

Several examples for the assignment of variables of the same type follow:

Table 5-33 Examples of absolute CPU memory access

status1 := %I1.1; // BOOL data type
status2 := %IB10; // BYTE data type
status3 := %IW20; // WORD data type
status4 := %ID20; // DWORD data type

%Q1.1 := status1; // BOOL data type

%QB20 := status2; // BYTE data type
%QW20 := status3; // WORD data type
%QD20 := status4; // DWORD data type

5.3.4.3 Symbolic access to the fixed process image of the BackgroundTask (symbolic PI access)
You can access the fixed process image of the BackgroundTask (Page 220) symbolically
without needing to always specify the absolute process image access.
You can declare symbolic access:
● As a static variable of a program (within the VAR/END_VAR structure in the declaration
section)
● As a unit variable (within the VAR_GLOBAL / END_VAR structure in the interface or
implementation section of the ST source file)
The syntax for declaring a symbolic name for the PI access is shown in the figure:

6\PEROLF3,DFFHVV XQIRUPDWWHG

,QWHJHU
GDWDW\SH

$EVROXWH3,
,GHQWLILHU $7 DFFHVV  

%LWGDWDW\SH

5DQJHRIGHFODUHGGDWDW\SHPXVW
FRUUHVSRQGWRWKHUDQJHRIWKH
DEVROXWHLGHQWLILHU

Figure 5-6 Declaration of a symbolic access to the process image

For the absolute PI access, see "Syntax for the identifier for an absolute PI
access (Page 222)".
The range of the declared integer or bit data type must correspond to the range of the
absolute PI access, see "Possible data types of the symbolic PI access (Page 224)". After
declaring a numerical data type, you can address the contents of the process image as an
integer.
See also Example for the declaration (Page 224).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 223
Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3.4.4 Possible data types for symbolic PI access

In the following cases, a data type that differs from that of the absolute PI access can be
assigned to the fixed process image of the BackgroundTask (Page 220). The data type width
must correspond to the data type width of the absolute PI access.
● For the declaration of a symbolic PI access (Page 223).
● For the creation of an I/O variable (Page 225).
If you assign a numeric data type to the symbolic PI access or to the I/O variables, you can
access these variables as integer.

Table 5-34 Possible data types for symbolic PI access

Data type of the Possible data types of the

absolute PI access symbolic PI access
BOOL (%In.x, %IXn.x, %Qn.x. %QXn.x) BOOL
BYTE (%IBn, %QBn) BYTE, SINT, USINT
WORD (%IWn, %QWn) WORD, INT, UINT
DWORD (%IDn, %PQDn) DWORD, DINT, UDINT
For the data type of the absolute PI access, see also "Syntax for the identifier for an absolute
PI access (Page 222)".

5.3.4.5 Example of symbolic PI access

If, for example, you want to access the CPU memory area (absolute PI access (Page 222))
%IB10, but can respond flexibly to changes in your program, then declare a myInput variable
with this CPU memory area as follows:

VAR
myInput AT %IB10 : BYTE;
END_VAR

If you want to use the integer value of the memory area, declare the myInput variable as
follows:

VAR
myInput AT %IB10 : SINT;
END_VAR

If you want to use a CPU memory area other than %IB10 in your program at a later time, you
only need to change the absolute PI access in the variable declaration.

SIMOTION ST Structured Text

224 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3.4.6 Creating an I/O variable for access to the fixed process image of the BackgroundTask
You create I/O variables in the symbol browser of the detail view; to do this, you must be
working in offline mode.
Here is a brief overview of the procedure:
1. In the project navigator of SIMOTION SCOUT, select the I/O element in the subtree of the
SIMOTION device.
2. In the detail view, select the Symbol browser tab and scroll down to the end of the
variable table (empty row).
3. In the last (empty) row of the table, enter or select the following:
– Name of variable.
– Under I/O address, the absolute PI access according to the "syntax for the identifier
for an absolute PI access (Page 222)"
(exception: The syntax %IXn.x or %QXn.x is not permitted for data type BOOL).
– Data type of the I/O variables according to the "possible data types of the symbolic PI
access (Page 224)".
4. Select optionally the display format used to monitor the variable in the symbol browser.
You can now access this variable using the symbol browser or any program of the
SIMOTION device.

Note
I/O variables can only be created in offline mode. You create the I/O variables in SIMOTION
SCOUT and use them in your program sources.
Note that you can read and write outputs but you can only read inputs.
Before you can monitor and modify new or updated I/O variables, you must download the
project to the target system.

You can use I/O variables like any other variable, see "Access I/O variables (Page 226)".

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 225
Integration of ST in SIMOTION
5.3 Access to inputs and outputs (process image, I/O variables)

5.3.5 Accessing I/O variables

You have created an I/O variable for:
● Direct access or process image of the cyclic tasks (Page 214).
● Access to the fixed process image of the BackgroundTask (Page 220).
You can use this I/O variable just like any other variable.

NOTICE
Consistency is only ensured for elementary data types.
When using arrays, the user is responsible for ensuring data consistency.

Note
If you have declared unit variables or local variables of the same name (e.g. var-name),
specify the I/O variable using _device.var-name (predefined namespace, see the
"Predefined namespaces" table in "Namespaces").
It is possible to directly access an I/O variable that you created as a process image of a
cyclic task. Specify direct access with _direct.var-name or _device._direct.var-name.

If you want to deviate from the default behavior when errors occur during variable access,
you can use the _getSafeValue and _setSafeValue functions (see SIMOTION Basic
Functions Function Manual).
For errors associated with access to I/O variables, see SIMOTION Basic Functions Function
Manual.

SIMOTION ST Structured Text

226 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.4 Using libraries

5.4 Using libraries

Libraries provide you with user-defined data types , functions and function blocks that can be
used from all SIMOTION devices.
Libraries can be written in all programming languages; they can be used in all program
sources (e.g. ST source files, MCC units).
You can obtain more details on inserting and managing libraries in the online help.

NOTICE
The same rules as for the names of program source files apply to the library names, see
Insert ST source file (Page 21). In particular, the permissible length of the name depends
on the SIMOTION Kernel version:
• As of Version V4.1 of the SIMOTION Kernel: maximum 128 characters.
• Up to Version V4.0 of the SIMOTION Kernel: maximum 8 characters.
With versions of the SIMOTION Kernel up to V4.0, a violation of the permissible length of
the library name may not be detected until a consistency check or a download of the project
is performed!

5.4.1 Compiling a library

In libraries, you can use all ST commands except for the ones listed in the table. In addition,
you are not allowed to access some variables; these variables are also listed in this table .

Table 5-35 Illegal ST commands and variable access in libraries

Prohibited commands:
• _getTaskId function (see SIMOTION Basic Functions Function Manual).
• _getAlarmId function (see SIMOTION Basic Functions Function Manual).
• _checkEqualTask function (see SIMOTION Basic Functions Function Manual).
• Following functions that are intended for SIMOTION kernel versions up to V3.0:
– Task control commands
– Commands for runtime measurement of tasks
– Commands for message programming
With these functions, the name of the task of the configured message is transferred.
• If the library is not device-dependent (i.e. compiled without reference to a SIMOTION device or
SIMOTION Kernel version):
– System functions of SIMOTION devices (see the Parameter Manual for SIMOTION devices)
– Version-dependent system functions

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 227
Integration of ST in SIMOTION
5.4 Using libraries

Prohibited variable accesses:

• Unit variables (retentive and non-retentive)
• Global device variables (retentive and non-retentive)
• I/O variables
• Instances of the technology objects and their system variables
• Variables of task names and configured messages (_task and _alarm namespaces, see
Namespaces (Page 233), Predefined namespaces (Page 233) table)
• If the library is not device-dependent (i.e. compiled without reference to a SIMOTION device or
SIMOTION Kernel version):
– System variables of SIMOTION devices (see the Parameter Manual for SIMOTION devices)
– Configuration data of technology objects (see Parameter Manual of configuration data for the
relevant SIMOTION technology package)

Note
The Program status debug function is not available in libraries.

Compiling an individual library

To compile an individual library, proceed as follows:
1. Select the library in the project navigator.
2. Select the Edit > Object Properties menu command.
3. Select the TPs/TOs tab.
4. Select the SIMOTION devices (with SIMOTION kernel version) and the technology
packet that you want to use as a basis for compiling the library; see the SIMOTION Basic
Functions Function Manual.
5. Select Accept and compile from the context menu.
The library is compiled with reference to all selected SIMOTION devices, SIMOTION kernel
versions and technology packages (and independently of devices).

NOTICE
If the library to be compiled imports another library, note the following:
1. For the imported library, at least the same devices and SIMOTION kernel versions must
be selected as for the importing library.
Alternatively, the imported library can be compiled independently of devices if the
prerequisites for this are fulfilled (refer to the SIMOTION Basic Functions Function
Manual).
2. The imported library must already be compiled individually with reference to all
configured devices, kernel versions and technology packages.
Compilation of the library as part of a project-wide compilation is generally not sufficient.

SIMOTION ST Structured Text

228 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.4 Using libraries

Compiling a library as part of a project-wide compilation

When you compile the whole SIMOTION project (e.g. by choosing Project > Save and
recompile all or by performing an XML import), the libraries used are also compiled.

NOTICE
When performing project-wide compilation, note the following:
1. The system automatically identifies dependencies between libraries and selects the
appropriate compilation sequence.
2. A library is only compiled with reference to the SIMOTION devices (including versions of
the SIMOTION kernel) that are configured in the project and which use the library.
3. Other SIMOTION devices and kernel versions set for the library are ignored.

5.4.2 Know-how protection for libraries

You can protect libraries and their source files against unauthorized access by third parties.
Protected libraries or sources can only be opened or exported as plain text files by entering a
password.
You can:
● Provide individual sources of a library with know-how protection:
Only the sources are protected against unauthorized access.
The setting of the SIMOTION devices including the versions of the SIMOTION Kernel and
the technology packages, for which the library is to be compiled, can still be changed and
adapted by the user. Please refer to the SIMOTION Basic Functions Function Manual.
The user can thus use the library for other SIMOTION devices and kernel versions.
● Provide the library with know-how protection:
The following is then protected against unauthorized access:
– All sources of the library
– The setting of the SIMOTION device including the versions of the SIMOTION Kernel
and the technology packages for which the library is to be compiled.
You thus prevent that the user can use the library for other SIMOTION devices and
kernel versions.
Only use this setting if this is intended.
For information about how to apply know-how protection, refer to the online help.

Note
If you export in XML format, the libraries or sources are exported in an encrypted form.
When importing the encoded XML files, the know-how protection, including login and
password, remains in place.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 229
Integration of ST in SIMOTION
5.4 Using libraries

5.4.3 Using data types, functions and function blocks from libraries
Before using data types, functions or function blocks from libraries, you must make them
known to the ST source file. To do so, use the following construct in the interface section of
the ST source file:

USELIB library-name [AS namespace];

In this case, library-name is the name of the library as it appears in the project navigator.
When multiple libraries are to be specified, enter them as a list separated by commas, e.g.:

USELIB library-name_1 [AS namespace_1],

library-name_2 [AS namespace_2],
library-name_3 [AS namespace_1], ...

You can use the optional AS namespace add-on to define a namespace (see
Namespaces (Page 233)).
● You can then access data types, functions, and function blocks in the library that have the
same name as such an ST source file of a SIMOTION device (in the PROGRAMS folder).
● You can also use namespaces to change the names of data types, functions and function
blocks in the library so that they have different names.
You can also assign the same namespace to different libraries.

Table 5-36 Example of use of namespaces with libraries

INTERFACE
USELIB Bib_1 AS NS_1, Bib_2 AS NS_2;
PROGRAM Main_Program;
END_INTERFACE

IMPLEMENTATION
FUNCTION Function1 : VOID
VAR
ComID : CommandIdType;
END_VAR
ComId := _getCommandId();
END_FUNCTION

PROGRAM Main_program
function1(); // Function from this source
NS_1.Var1:=1;
NS_2.Var1:=2;
NS_1.function1(); // Function from the Bib1 library
NS_2.function1(); // Function from the Bib2 library
END_PROGRAM
END_IMPLEMENTATION

SIMOTION ST Structured Text

230 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.5 Use of the same identifiers and namespaces

5.5 Use of the same identifiers and namespaces

5.5.1 Use of the same identifiers

It is possible to use unit variables and local variables (program variables, FB variables, FC
variables) with the same name. When compiling a program source, the compiler searches
for identifiers beginning with the current POU. The smaller validity range always takes
priority over the larger validity range.
You can therefore use the same identifiers in different source file sections, as long as the
rules below are adhered to. If a higher-level identifier is hidden by an identifier in a unit or
POE, the compiler issues a warning.

NOTICE
Under certain circumstances, the compiler may not issue a warning if, for example, the
associated technology package is not imported.

Identifiers in a program organization unit (POU)

All following identifiers in a POU must be unique:
● Local variables of the POU.
● Local data types of the POU.
They may not also be identical with the following identifiers:
● Reserved identifiers.
● Identifiers of the POU itself.
The compiler issues a warning when the following identifiers are hidden:
● Unit variables, data types and POU or the same or imported units
● Standard system functions, standard system function blocks and associated data types
● System functions and system data types of the SIMOTION device
● Program organization units (POU) and data types from imported libraries
– This can be resolved by entering a user-defined namespace.
● System functions and system data types from imported technology packages.
– This can be resolved by entering a user-defined namespace.
● SIMOTION device variables (system variables, I/O variables, global device variables)
– This can be resolved by entering the predefined namespace _device.
● Technology objects configured on the SIMOTION device
– This can be resolved by entering the predefined namespace _to.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 231
Integration of ST in SIMOTION
5.5 Use of the same identifiers and namespaces

Identifiers in a unit
All following identifiers in a unit must be unique:
● Unit variables (declared in the interface or implementation section)
● Data types (declared in the interface or implementation section)
● Program organization units (POUs)
These must not be identical to the following identifiers either:
● Reserved identifiers.
● Unit variables, data types and POU imported units.
● Standard system functions, standard system function blocks and associated data types.
● System functions and system data types of the SIMOTION device.
● Program organization units (POU) and data types from imported libraries.
– This can be resolved by entering a user-defined namespace.
● System functions and system data types from imported technology packages.
– This can be resolved by entering a user-defined namespace.
The compiler issues a warning when the following identifiers are hidden:
● SIMOTION device variables (system variables, I/O variables, global device variables).
– This can be resolved by entering the predefined namespace _device.
● Technology objects configured on the SIMOTION device.
– This can be resolved by entering the predefined namespace _to.

Identifiers on the SIMOTION device (e.g., I/O variables, global device variables)
All the following identifiers on the SIMOTION device must be unique:
● I/O variables
● Global device variables
● System variables of the SIMOTION device
● System functions and system data types of the SIMOTION device.
These must not also be identical to the following identifiers:
● Reserved identifiers.
● Standard system functions, standard system function blocks and associated data types.

SIMOTION ST Structured Text

232 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.5 Use of the same identifiers and namespaces

Example
The following example illustrates this situation. It shows that for use of identical names for
unit variables (large validity range) and FC variables (small variable scope), only the
variables declared in the function are valid within this source file section. The unit variables
are only valid in POUs in which no local variables of the same name were declared. See the
example.

Table 5-37 Example of identifier validity

TYPE
type_a : (enum1, enum2, enum3);
END_TYPE

VAR_GLOBAL
var_a, var_b : DINT; // Unit variables
END_VAR

FUNCTION fc_1 : VOID

VAR
var_a : type_a; // Declaration hides UNIT variable
var_c : DINT; // Local variable
END_VAR
// Permitted statements
var_a := enum2; // Access to local variable
var_b := 100; // Access to unit variable
var_c := -1; // Access to local variable
// Invalid statement
// var_a := 200;
END_FUNCTION

FUNCTION fc_2 : VOID

VAR
var_b : type_a; // Declaration hides UNIT variable
var_c : type_a; // Local variable
END_VAR
// Permitted statements
var_a := -100; // Access to unit variable
var_b := enum3; // Access to local variable
var_c := enum1; // Access to local variable
// Invalid statement
// var_b := 200;
END_FUNCTION

5.5.2 Namespaces
You can also access data types, unit variables, functions, and function blocks defined
outside of a program source (e.g. in libraries, technology packages, and on the SIMOTION
device) using their names.
When compiling a program source, the compiler searches for identifiers beginning with the
current POU. The data types, variables, functions, or function blocks declared in a program
source therefore hide identifiers with the same name which have been defined outside the
source, see Use of the same identifiers (Page 231). In order to still access these hidden
identifiers, you can use namespaces in certain cases.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 233
Integration of ST in SIMOTION
5.5 Use of the same identifiers and namespaces

User-defined namespace
In the import instruction for libraries and technology packages, you can define namespaces
in order to reach the data types, functions, or function blocks of these libraries and
technology packages.

USELIB library-name_1 [AS lib_namespace_1],

library-name_2 [AS lib_namespace_2],
library-name_3 [AS lib_namespace_1], ...

USEPACKAGE tp-name_1 [AS tp_namespace_1],

tp-name_2 [AS tp_namespace_2],
tp-name_3 [AS tp_namespace_1], ...
You can also use namespaces to make names consistent within different libraries.
If you wish to use a data type, a function or a function block from a library or a technology
package, place the namespace identifier in front of the name, separated by a period, for
example, namespace.fc-name, namespace.fb-name, namespace.type-name.

Example
The following example shows how to select the Cam technology package, assign it the
namespace Cam1 and use the namespace:

Table 5-38 Example of selecting a technology package and using a namespace

INTERFACE
USEPACKAGE Cam AS Cam1;
USES ST_2;
FUNCTION function1;
END_INTERFACE

IMPLEMENTATION
FUNCTION function1 : VOID
VAR_INPUT
p_Axis : posAxis;
END_VAR
VAR
retVal : DINT;
END_VAR

retVal:= Cam1._enableAxis (
axis := p_Axis,
nextCommand := Cam1.WHEN_COMMAND_DONE,
commandId := _getCommandId() );
END_FUNCTION
END_IMPLEMENTATION

NOTICE
If a namespace is defined for an imported library or technology package, this must always
be specified if a function, function block, or data type from this library or technology
package is being used. See above example: Cam1._enableAxis,
Cam1.WHEN_COMMAND_DONE.

SIMOTION ST Structured Text

234 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.5 Use of the same identifiers and namespaces

Predefined namespace
Namespaces are predefined for device- and project-specific variables as well as TaskID and
AlarmID variables. If necessary, write their designation before the variable names, separated
by a period, for example, _device.var-name or _task.task-name

Table 5-39 Predefined namespaces

Name space Description

_alarm For AlarmId: The _alarm.name variable contains the AlarmId of the message with
the name identifier (see SIMOTION Basic Functions Function Manual).
_device For device-specific variables (global device variables, I/O variables, and system
variables of the SIMOTION device).
_direct For direct access to I/O variables – see Direct access and process image of the
cyclical tasks (Page 214).
Local namespace for _device. Nesting as in _device._direct.name is permitted.
_project For names of SIMOTION devices in the project; only used with technology objects
on other devices.
With unique project-wide names of technology objects, used also for these names
and their system variables.
_task For TaskID: The _task.name variable contains the TaskId of the task with the
name identifier (see SIMOTION Basic Functions Function Manual).
_to For technology objects configured on the SIMOTION device, and their system
variables and configuration data.
Not for system functions and data types of the technology objects. In this case, if
necessary, use the user-defined namespace for the imported technology package

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 235
Integration of ST in SIMOTION
5.5 Use of the same identifiers and namespaces

,GHQWLILHUVRIWKHQDPHVSDFHV +LHUDUFK\
3URMHFW

8VHUGHILQHG 7HFKQRORJ\SDFNDJHV

6\VWHPIXQFWLRQVDQGV\VWHPGDWDW\SHVRIWKH72

8VHUGHILQHG /LEUDULHV

)XQFWLRQV)XQFWLRQ%ORFNV'DWD7\SHV

BSURMHFW 'HYLFH

BWR 7HFKQRORJ\REMHFWV

&RQILJXUDWLRQGDWDRIWKH72

6\VWHPYDULDEOHVRIWKH72

BWDVN 7DVNQDPHV

BDODUP 0HVVDJHV

BGHYLFH 6\VWHPYDULDEOHVRIWKHGHYLFH

*OREDOGHYLFHYDULDEOHV

,2YDULDEOHV

3URFHVVLPDJHRIWKHF\FOLF7DVNV

BGLUHFW 'LUHFWDFFHVV

,(&DQGGHYLFHV\VWHPGDWDW\SHV

,(&DQGGHYLFHV\VWHPIXQFWLRQV

8QLWYDULDEOHVXQLWGDWDW\SHV

3URJUDPRUJDQL]DWLRQXQLWV

/RFDOYDULDEOHVDQGGDWDW\SHV

BSURMHFW 'HYLFH

BWR 7HFKQRORJ\REMHFWV

6\VWHPYDULDEOHVRIWKH72

Figure 5-7 Namespaces and identifier hierarchy

SIMOTION ST Structured Text

236 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.6 Reference data

5.6 Reference data

The reference data provide you with an overview of:
● Utilized identifiers with information on their declaration and use
(Cross reference list)
● Function calls and their nesting
(Program structure)
● For the memory requirement of various data areas of the program sources
(code attribute)

See also
Cross-reference list (Page 237)
Program structure (Page 239)
Code attributes (Page 241)

5.6.1 Cross-reference list

The cross-reference list shows all identifiers in program sources (e.g. ST source files, MCC
source files):
● Declared as variables, data types, or program organization units (program, function,
function block)
● Used as previously defined type identifiers in declarations
● Used as variables in the statement section of a program organization unit
You can generate the cross-reference list as required for:
● An individual program source (e.g. ST source file, MCC source file, LAD/FBD source)
● All program sources of a SIMOTION device
● All program sources and libraries of the project
● Libraries (all libraries, single library)

5.6.1.1 Creating a cross-reference list

To create the cross-reference list:
1. In the project navigator, select the element for which you want to create a cross-reference
list.
2. Select the menu Edit > Reference data > Create.
The cross-reference list is displayed in its own tab in the detail view.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 237
Integration of ST in SIMOTION
5.6 Reference data

5.6.1.2 Content of the cross-reference list

The created cross-reference list shows the following for each identifier:
● The identifier name (for structures and enumerators, also the individual components and
elements).
● The type (e.g. data type, POU type).
● The declaration location (e.g. name of the program source, name of the technology
package).
● Information about the current use of the identifier:
– Type of the use (e.g. R = read access, W = write access, variable type = declaration),
– Path details of the program source (SIMOTION device, name of the program source),
– Area in the program source (e.g. implementation section, POU name),
– Program language of the program source,
– Line number in the ST source file (or block number in the MCC chart or reference
number in the LAD/FBD source).

Note
The generated cross-reference list is saved automatically and can be displayed
selectively after selecting the appropriate element in the project navigator. To display
the cross-reference list, select the Edit > Reference data > Display > Cross-Reference
List menu command.
When a cross-reference list is recreated, it is updated selectively (corresponding to the
selected element in the project navigator). Other existing cross-reference data are
retained and displayed, if applicable.

Note
Activated single-step monitoring in MCC programming
Each task is assigned two variables TSI#dwuser_1 and TSI#dwuser_2, which can be
written and read.
When single step monitoring is activated, the compiler uses these variables to control
single step monitoring if at least one MCC chart is assigned to the relevant task. The
user then cannot use these variables, because their contents are overwritten by single
step monitoring and may cause undesirable side effects.

SIMOTION ST Structured Text

238 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.6 Reference data

5.6.1.3 Working with a cross-reference list

In the cross-reference list you are able to:
● Sort the column contents alphabetically
● Set filter functions (via context menu, which you can call with the right mouse button)
● Copy contents to the clipboard in order, for example, to paste them into a spread-sheet
program
● Print contents
● Open the referenced program source and position the cursor on the relevant line of the
ST command (or MCC or LAD/FBD element):
– Double-click on the corresponding line in the cross-reference list.
or
– Place the cursor in the corresponding line of the cross-reference list and click the Go
to application button.
Further details about working with cross-reference lists can be found in the online help.

5.6.2 Program structure

In the program structure are all function calls and their nesting within a selected element.
When the cross-reference list has been successfully created, you can display the program
structure selectively for:
● An individual program source (e.g. ST source file, MCC source file, LAD/FBD source)
● All program sources of a SIMOTION device
● All program sources and libraries of the project
● Libraries (all libraries, single library, individual program source within a library)
Follow these steps:
1. In the project navigator, select the element for which you want to display the program
structure.
2. Select the menu Edit > Reference data > Display > Program structure.
The cross-reference tab is replaced by the program structure tab in the detail view.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 239
Integration of ST in SIMOTION
5.6 Reference data

5.6.2.1 Content of the program structure

A tree structure appears, showing:
● as base respectively
– the program organization units (programs, functions, function blocks) declared in the
program source, or
– the execution system tasks used
● below these, the subroutines referenced in this program organization unit or task.
For structure of the entries, see table:

Table 5-40 Elements of the display for the program structure

Element Description
Base List separated by a comma
(declared POU or • Identifier of the program organization unit (POU) or task
task used))
• Identifier of the program source in which the POU or task was declared,
with add-on [UNIT]
• Minimum and maximum stack requirement (memory requirement of the
POU or task on the local data stack), in bytes [Min, Max]
• Minimum and maximum overall stack requirement (memory requirement of
the POU or task on the local data stack including all called POUs), in bytes
[Min, Max]
Referenced POU List separated by a comma:
• Identifier of called POU
• Optionally: Identifier of the program source / technology package in which
the POU was declared:
Add-on (UNIT): User-defined program source
Add-on (LIB): Library
Add-on (TP): System function from technology package
• Only for function blocks: Identifier of instance
• Only for function blocks: Identifier of program source in which the instance
was declared:
Add-on (UNIT): User-defined program source
Add-on (LIB): Library
• Line of (compiled) source in which the POU is called; several lines are
separated by "|".

SIMOTION ST Structured Text

240 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.6 Reference data

5.6.3 Code attributes

You can find information on or the memory requirement of various data areas of the program
sources under code attribute.
When the cross-reference list has been successfully created, you can display the code
attributes selectively for:
● An individual program source (e.g. ST source file, MCC source file, LAD/FBD source)
● All program sources of a SIMOTION device
● All program sources and libraries of the project
● Libraries (all libraries, single library, individual program source within a library)
Follow these steps:
1. In the project navigator, select the element for which you want to display the code
attributes.
2. Select the Edit > Reference data > Display > Code attributes menu.
The Cross-references tab is now replaced by the Code attributes tab in the detail view.

5.6.3.1 Code attribute contents

The following are displayed in a table for all selected program source files:
● Identifier of program source file,
● Memory requirement, in bytes, for the following data areas of the program source file:
– Dynamic data: All unit variables (retentive and non-retentive, in the interface and
implementation sections),
– Retain data: Retentive unit variables in the interface and implementation section,
– Interface data: Unit variables (retentive and non-retentive) in the interface section,
● Number of referenced sources.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 241
Integration of ST in SIMOTION
5.7 Controlling the preprocessor and compiler with pragmas

5.7 Controlling the preprocessor and compiler with pragmas

A pragma is used to insert an ST source file text (e.g. statements), which influences the
compilation of the ST source file.
Pragmas are enclosed in { and } braces and can contain
(see figure):
● Preprocessor statements for controlling the preprocessor, see Controlling the
preprocessor (Page 243).
The pragmas with preprocessor statements contained in an ST source file are evaluated
by the preprocessor and interpreted as control statements.
● Attributes for compiler options to control the compiler, see Controlling compiler with
attributes (Page 247).
The pragmas with attributes for compiler options contained in an ST source file are
evaluated by the compiler and interpreted as control statements.

3UDJPD XQIRUPDWWHG

3UHSURFHVVRUVWDWHPHQW
^ `
$WWULEXWH

Figure 5-8 Pragma syntax

NOTICE
Be sure to use the correct pragma syntax (e.g. upper- and lower-case notation of
attributes).
Unrecognized pragmas are ignored with no warning message.

SIMOTION ST Structured Text

242 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.7 Controlling the preprocessor and compiler with pragmas

5.7.1 Controlling a preprocessor

The preprocessor prepares an ST source file for compilation. For example, character strings
can be defined as replacement texts for identifiers, or sections of the source program can be
hidden/shown for compilation.
The preprocessor is disabled by default. You can activate it as follows:
● Globally for all program source files and programming languages within the project, see
"Global settings of the compiler (Page 45)".
● Local for a program source file, see "Local compiler settings (Page 46)".
During the compilation of a program source file, you will be informed about the preprocessor
actions. This requires, however, that the display of warnings class 7 is activated, see
Meaning of the warning classes (Page 49). You specify the details for issued warnings and
information:
● In the global or local settings of the compiler.
● With the _U7_PoeBld_CompilerOption := warning:n:off or warning:n:on attribute within an
ST source file, see "Controlling compiler with attributes (Page 247)".
Like compiler messages, information about the preprocessor is shown in the "Compile/check
output" tab of the detail view.

Note
You can also view the text of the ST source file modified by the preprocessor:
1. Open the ST source file.
2. Select the ST source file > Execute preprocessor menu command.
The modified source text is shown in the "Compile/check output" tab of the detail view.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 243
Integration of ST in SIMOTION
5.7 Controlling the preprocessor and compiler with pragmas

5.7.1.1 Preprocessor statement

You can control the preprocessor by means of statements in pragmas. The statements
specified in the following syntax diagram can be used. These statements act on all
subsequent lines of the ST source file.
They can be used in ST source files of a SIMOTION device or a library.
You can make definitions for the preprocessor in the property dialog box of the ST source file
(see Making preprocessor definitions (Page 51)). This enables you also to control the
preprocessor with ST source files with know-how protection (see Know-how protection for
ST sources (Page 51)).

3UHSURFHVVRUVWDWHPHQW XQIRUPDWWHG

GHILQH ,GHQWLILHU 7H[W

XQGHI ,GHQWLILHU

LIGHI ,GHQWLILHU

LIQGHI ,GHQWLILHU

HOVH

HQGLI

(DFKVWDWHPHQWPXVWEHJLQZLWKDQHZOLQHDQGHQGZLWKDOLQHEUHDN

7KHIROORZLQJRUGHUPXVWEHPDLQWDLQHGIRUWKHVWDWHPHQWVEHORZ
LIGHIಥHOVH RSWLRQDO ಥHQGLIRULIQGHIಥHOVH RSWLRQDO ಥHQGLI

7H[W6WULQJRIDQ\FKDUDFWHUVH[FHSW
? EDFNVODVK ಫ VLQJOHTXRWH DQGಯ GRXEOHTXRWH 
7KHNH\ZRUGV86(686(/,%DQG86(3$&.$*(DUHQRWSHUPLWWHG

Figure 5-9 Syntax of a preprocessor statement

SIMOTION ST Structured Text

244 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.7 Controlling the preprocessor and compiler with pragmas

Table 5-41 Preprocessor statements

Statement Meaning
#define The specified identifier will be replaced below by the specified text.
Permissible characters: See table footnote.
#undef The replacement rule for the identifier is cancelled.
#ifdef For variant formation (conditional compilation)
If the specified identifier is defined, the following program lines (until the next
pragma that contains #else or #endif) are compiled by the compiler.
#ifndef For variant formation (conditional compilation)
If the specified identifier is not defined, the following program lines (until the next
pragma that contains #else or #endif) are compiled by the compiler.
#else For variant formation (conditional compilation)
Alternative branch to #ifdef or #ifndef.
The following program lines (until the next pragma containing #endif) are
compiled by the compiler, if the preceding query with #ifdef or #ifndef was not
fulfilled.
#endif Concludes variant formation with #ifdef or #ifndef.
Permissible characters:
• For identifiers: In accordance with the rules for identifiers (Page 73).
• For text: Sequence of any characters other than \ (backslash), ’ (single quote) and ” (double
quote). The keywords USES, USELIB and USEPACKAGE are not permitted.

Note
Each preprocessor statement must begin with a new line and end with a line break.
Consequently, the curly brackets ({ and }) enclosing the pragma must be placed in separate
lines of the ST source file!
In the case of pragmas with #define statements, please note:
• Pragmas with #define statements in the interface section of an ST source file are
exported. The defined identifiers can be imported with the USES statement into other ST
source files of the same SIMOTION device or of the same library.
• Identifiers defined in pragmas of libraries cannot be imported into ST source files of a
SIMOTION device.
• Redefinition of reserved identifiers is not possible.
You can also make preprocessor definitions in the property dialog box of the ST source file.
In the case of different definitions of the same identifiers, #define statements within the ST
source file have priority.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 245
Integration of ST in SIMOTION
5.7 Controlling the preprocessor and compiler with pragmas

5.7.1.2 Example of preprocessor statements

Table 5-42 Example of preprocessor statements

ST source file Preprocessor output

With preprocessor statements
INTERFACE INTERFACE
FUNCTION_BLOCK fb1; FUNCTION_BLOCK fb1;
VAR_GLOBAL VAR_GLOBAL
g_var : INT; g_var : INT;
END_VAR END_VAR
// Preprocessor definitions
{ {
#define my_define g_var
#define my_call f(my_define)
} }
// my_define -> g_var
// my_call -> f(g_var)
END_INTERFACE END_INTERFACE

IMPLEMENTATION IMPLEMENTATION
FUNCTION f : INT FUNCTION f : INT
VAR_INPUT VAR_INPUT
i : INT; i : INT;
END_VAR END_VAR
f := i; f := i;
END_FUNCTION END_FUNCTION

FUNCTION_BLOCK fb1 FUNCTION_BLOCK fb1

VAR_INPUT VAR_INPUT
i_var : INT; i_var : INT;
END_VAR END_VAR
VAR_OUTPUT VAR_OUTPUT
o_var : INT; o_var : INT;
END_VAR END_VAR
my_define := i_var; g_var := i_var;
// Delete the preprocessor definition
// For my_define
{ {
#undef my_define
} }
o_var := my_call + 1; o_var := f(g_var) + 1;
{ {
#ifdef my_define
}
my_define := i_var;
{
#endif
} }
END_FUNCTION_BLOCK END_FUNCTION_BLOCK
END_IMPLEMENTATION END_IMPLEMENTATION

SIMOTION ST Structured Text

246 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.7 Controlling the preprocessor and compiler with pragmas

5.7.2 Controlling compiler with attributes

You can use attributes within a pragma to control the compiler.

$WWULEXWH XQIRUPDWWHG

$WWULEXWHLGHQWLILHU $WWULEXWHYDOXH

,GHQWLILHU   7H[W 

Figure 5-10 Syntax of an attribute for compiler options

Table 5-43 Permissible attributes for compiler options

Attribute identifier Attribute value Meaning

_U7_PoeBld_CompilerOption The attribute affects the output of compiler warnings within an ST source file. It
affects all subsequent lines of the ST source file.
warning:n:off Warnings specified by the number n are not displayed
warning:n:on Warnings specified by the number n are displayed
Permissible value for n:
n = 0 to 7: Warning class, see also meaning of the warning classes (Page 49).
n = 16000 and higher: Number of a warning.
HMI_Export The attribute changes the unit variables available on HMI devices by default. It must
be placed directly after the associated keyword of the following declaration blocks:
• VAR_GLOBAL
• VAR_GLOBAL RETAIN
It affects only the unit variables declared in the associated declaration block.
Detailed description of the HMI export, in particular the effect of the attribute
depending on the version of the SIMOTION kernel: see Variables and HMI
devices (Page 208).
FALSE In the interface section of an ST source file. The unit variables
declared in the associated declaration block are not available on
HMI devices.
TRUE In the implementation section of an ST source file. The unit
variables declared in the associated declaration block are
available on HMI devices.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 247
Integration of ST in SIMOTION
5.7 Controlling the preprocessor and compiler with pragmas

Attribute identifier Attribute value Meaning

BlockInit_OnChange Only as of Version V3.2 of the SIMOTION kernel.
The attribute changes the standard definition whether a download in RUN mode is
possible when a change is made to the version identification of the associated
declaration block. It must be placed directly after the associated keyword of the
following declaration blocks:
• VAR_GLOBAL (in the interface and implementation section)
• VAR_GLOBAL RETAIN (in the interface and implementation section)
• VAR (only for programs in a unit when the "Create program instance data only
once" compiler option is active).
It affects only the variables declared in the associated declaration block.
See also Version ID of global variables and their initialization during
download (Page 207).
FALSE Download in RUN mode is not possible when the version
identification of the declaration block is changed (default).
TRUE Download in RUN mode is possible despite the change of the
version identification of the declaration block. The variables of the
declaration block are also initialized.
BlockInit_OnDeviceRun Only as of Version V4.1 of the SIMOTION kernel.
The attribute changes the standard definition whether the variables of the associated
declaration block will be initialized for the transition to the RUN mode. It must be
placed directly after the associated keyword of the following declaration blocks:
• VAR_GLOBAL (in the interface and implementation section)
• VAR (only for programs in a unit when the "Create program instance data only
once" compiler option is active).
It affects only the variables declared in the associated declaration block.
See also Memory ranges of the variable types (Page 194).
DISABLE The variables declared in the associated declaration block are not
initialized in the transition of the mode from STOP to RUN
(default).
ALWAYS The variables declared in the associated declaration block are
initialized in the transition of the mode from STOP to RUN.

NOTICE
Be sure to use the correct upper- and lower-case notation for attributes!

Note
The insert, delete or change of the HMI_Export, BlockInit_OnChange or
BlockInit_OnDeviceRun attributes in a declaration block does not change its version
identification!

SIMOTION ST Structured Text

248 Programming and Operating Manual, 08/2008
 Integration of ST in SIMOTION
5.7 Controlling the preprocessor and compiler with pragmas

Table 5-44 Example of attributes for compiler options

INTERFACE
VAR_GLOBAL
{ HMI_Export := FALSE;
BlockInit_OnChange := TRUE; }
// No HMI export, download in RUN possible
x : DINT;
END_VAR
FUNCTION_BLOCK fb1;
END_INTERFACE

IMPLEMENTATION
VAR_GLOBAL
{ HMI_Export := TRUE;
BlockInit_OnDeviceRun := ALWAYS; }
// HMI export, initialization for the STOP -> RUN transition
y : DINT;
END_VAR
FUNCTION_BLOCK fb1
VAR_INPUT
i_var : INT;
END_VAR
VAR_OUTPUT
o_var : INT;
END_VAR

{ _U7_PoeBld_CompilerOption := warning:2:on; }
o_var := REAL_TO_INT(1.0); // Warning 16004
{ _U7_PoeBld_CompilerOption := warning:2:off; }
o_var := REAL_TO_INT(1.0); // No warning 16004
{ _U7_PoeBld_CompilerOption := warning:16004:on; }
o_var := REAL_TO_INT(1.0); // Warning 16004
{ _U7_PoeBld_CompilerOption := warning:16004:off; }
o_var := REAL_TO_INT(1.0); // No warning 16004
{ _U7_PoeBld_CompilerOption := warning:2:off;
_U7_PoeBld_CompilerOption := warning:16004:on; }
o_var := REAL_TO_INT(1.0); // Warning 16004
END_FUNCTION_BLOCK
END_IMPLEMENTATION

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 249
Integration of ST in SIMOTION
5.8 Jump statement and label

5.8 Jump statement and label

In addition to control statements (see Control statements (Page 130)), a jump statement is
also available.
You program jump statements with the GOTO statement and specify the jump label to which
you want to jump. Jumps are only permitted within a POU.
Enter the jump label (separated by a colon) in front of the statement at which you want the
program to resume.
Alternatively, you can declare the jump labels in the POU (with the structure
LABEL/END_LABEL in the POU). Only the declared jump labels can then be used in the
statement section.
Syntax of jump statements and labels:

Table 5-45 Example of syntax for jump statements

FUNCTION func : VOID
VAR
x, y, z BOOL;
END_VAR
LABEL
lab_1, lab_2; // Declaration of the jump labels
END_LABEL
x := y;
lab_1 : y := z; // Jump label with statement
IF x = y THEN
GOTO lab_2; // Jump statement
END_IF;
GOTO lab_1; // Jump statement
lab_2 : ; // Jump label with blank statement
END_FUNCTION

Note
You should only use the GOTO statement in special circumstances (for example, for
troubleshooting). It should not be used at all according to the rules for structured
programming.
Jumps are only permitted within a POU.
The following jumps are illegal:
• Jumps to subordinate control structures (WHILE, FOR, etc.)
• Jumps from a WAITFORCONDITION structure
• Jumps within CASE statements
Jump labels can only be declared in the POU in which they are used. If jump labels are
declared, only the declared jump labels may be used.

SIMOTION ST Structured Text

250 Programming and Operating Manual, 08/2008
Error Sources and Program Debugging
This chapter describes various sources of programming errors and shows you how to
6
program efficiently. You also learn what options are available for program testing. All
possible compiler error messages, namely, compiler errors, see Compiler Error Messages
and Remedies (Page 350). Possible reactions and remedies are described for each error.

6.1 Notes on avoiding errors and on efficient programming

The SIMOTION Basic Functions Function Manual lists some common error sources, which
hinder the compilers or prevent the proper execution of a program. There are notes on, e.g.:
● Data types for assigning arithmetic expressions
● Starting functions in cyclic tasks
● Wait times in cyclic tasks
● Errors on download
● CPU does not switch to RUN
● CPU goes to STOP
● Size of the local data stack
● etc.
In addition, you will also find notes on efficient programming there, particularly for
● runtime-oriented programming
● change-optimized programming

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 251
Error Sources and Program Debugging
6.2 Program debugging

6.2 Program debugging

Syntax errors are detected and displayed by the ST compiler during the compilation
procedure. Runtime errors in the execution of the program are displayed by system alarms
or lead to the operating mode STOP. You can find logical programming errors with the test
functions of ST, e.g. with the symbol browser, status program, trace.
To achieve the same results as shown below using the test functions, use of the sample
program in Creating a sample program (Page 59) is recommended.

6.2.1 Modes for program testing

6.2.1.1 Modes of the SIMOTION devices

Various SIMOTION device modes are available for program testing.
How to select the mode of a SIMOTION device:
1. Highlight the SIMOTION device in the project navigator.
2. Select the "Test mode" context menu.
3. Select the required mode (see following table).
If you have selected "Debug mode":
– Accept the safety information.
– Parameterize the sign-of-life monitoring.
Observe the following section: Important information about the life-sign
monitoring (Page 254).
4. Confirm with "OK".
The SIMOTION device switches to the selected mode.
When the SIMOTION device switches to "Debug mode":
– A connection to the target system will be established automatically (online mode) if
SIMOTION SCOUT is currently in offline mode.
– The activated debug mode is indicated in the status bar.
– The breakpoints toolbar is displayed.

SIMOTION ST Structured Text

252 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

Table 6-1 Modes of a SIMOTION device

Setting Meaning
Process mode Program execution on the SIMOTION device is optimized for maximum system performance.
The following diagnostic functions are available, although they may have only restricted
functionality because of the optimization for maximum system performance:
• Monitor variables in the symbol browser or a watch table.
• Program status (only restricted):
– Restricted monitoring of variables (e.g. variables in loops, return values for system
functions).
– As of version V4.0 of the SIMOTION kernel:
No more than one program source (e.g. ST source, MCC source, LAD/FBD source) can
be monitored per task.
– Up to version V3.2 of the SIMOTION kernel:
No more than one program source (e.g. ST source, MCC source, LAD/FBD source) can
be monitored.
• Trace tool (only restricted) with measuring functions for drives and function generator, see
online help:
– No more than one trace on each SIMOTION device.
Test mode The diagnostic functions of the process mode are available to the full extent:
• Monitor variables in the symbol browser or a watch table.
• Program status:
– Monitoring of all variables possible.
– As of version V4.0 of the SIMOTION kernel:
Several program sources (e.g. ST sources, MCC sources, LAD/FBD sources) can be
monitored per task.
– Up to version V3.2 of the SIMOTION kernel:
No more than one program source (e.g. ST source, MCC source, LAD/FBD source) can
be monitored per task.
• Trace tool with measuring functions for drives and function generator, see online help:
– No more than four traces on each SIMOTION device.

Note
Runtime and memory utilization increase as the use of diagnostic functions increases.
Debug mode This mode is available in SIMOTION kernel as of V3.2.
In addition to the diagnostic functions of the test mode, you can use the following functions:
• Breakpoints
Within a program source file, you can set breakpoints (Page 271). When an activated
breakpoint is reached, selected tasks will be stopped.
• Controlling MotionTasks
In the "Task Manager" tab of the device diagnostics, you can use task control commands for
MotionTasks, see the SIMOTION Basic Functions Function Manual.
No more than one SIMOTION device of the project can be switched to debug mode.
SIMOTION SCOUT is in online mode, i.e. connected with the target system.
Observe the following section: Important information about the life-sign monitoring (Page 254).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 253
Error Sources and Program Debugging
6.2 Program debugging

6.2.1.2 Important information about the life-sign monitoring

WARNING
You must observe the appropriate safety regulations.
Use the debug mode or a control panel only with the life-sign monitoring function activated
with a suitably short monitoring time! Otherwise, if problems occur in the communication
link between the PC and the SIMOTION device, the axis may start moving in an
uncontrollable manner.
The function is released exclusively for commissioning, diagnostic and service purposes.
The function should generally only be used by authorized technicians. The safety
shutdowns of the higher-level control have no effect.
Therefore, there must be an EMERGENCY STOP circuit in the hardware. The appropriate
measures must be taken by the user.

Accept safety notes

After selecting the debug mode or a control panel, you must accept the safety notes. You
can set the parameters for the life-sign monitoring.
Proceed as follows:
1. Click the Settings button.
The "Debug settings" window opens.
2. Read there, as described in the following section, the safety notes and parameterize the
life-sign monitoring.

SIMOTION ST Structured Text

254 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

Parameterizing the life-sign monitoring

In the Life-sign monitoring parameterization window, proceed as described below:
1. Read the warning!
2. Click the Safety notes button to open the window with the detailed safety notes.
3. Do not make any changes to the defaults for life-sign monitoring.
Changes should only be made in special circumstances and in observance of all danger
warnings.
4. Click Accept to confirm you have read the safety notes and have correctly parameterized
the life-sign monitoring.

NOTICE
Pressing the spacebar or switching to a different Windows application causes:
• In debug mode for activated breakpoints:
– The SIMOTION device switches to STOP mode.
– The outputs are deactivated (ODIS).
• For controlling an axis or a drive using the control panel (control priority for the PC):
– The axis or the drive is brought to a standstill.
– The enables are reset.

WARNING
This function is not guaranteed in all operating modes. Therefore, there must be an
EMERGENCY STOP circuit in the hardware. The appropriate measures must be taken by
the user.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 255
Error Sources and Program Debugging
6.2 Program debugging

6.2.1.3 Life-sign monitoring parameters

Table 6-2 Life-sign monitoring parameter description

Field Description
Life-sign monitoring The SIMOTION device and SIMOTION SCOUT regularly
exchange life-sign signals to ensure a correctly functioning
connection. If the exchange of the life-sign is interrupted longer
than the set monitoring time, the following response occurs:
• In debug mode for activated breakpoints:
– The SIMOTION device switches to STOP mode.
– The outputs are deactivated (ODIS).
• For controlling an axis or a drive using the control panel
(control priority for the PC):
– The axis is brought to a standstill.
– The enables are reset.
The following parameterizations are possible:
• Active check box:
If the check box is selected, life-sign monitoring is active.
The deactivation of the life-sign monitoring is not always
possible.
• Monitoring time:
Enter the timeout.

Prudence
Do not make any changes to the defaults for life-sign
monitoring, if possible.
Changes should only be made in special circumstances and in
observance of all danger warnings.
Safety information Please observe the warning!
Click the button to obtain further safety information.
See: Important information about the life-sign
monitoring (Page 254)

SIMOTION ST Structured Text

256 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

6.2.2 Symbol Browser

6.2.2.1 Properties of the symbol browser

In the symbol browser, you can view and, if necessary, change the name, data type, and
variable values. In particular, you can: see the following variables:
● Unit variables and static variables of a program or function block
● System variables of a SIMOTION device or a technology object
● I/O variables or global device variables.
For these variables, you can:
● View a snapshot of the variable values
● Monitor variable values as they change
● Change (modify) variable values
However, the symbol browser can only display/modify the variable values if the project has
been loaded in the target system and a connection to the target system has been
established.

6.2.2.2 Using the symbol browser

Requirements
● Make sure that a connection to the target system has been established and a project has
been downloaded to the target system. To load the project with the sample program, see
"Executing the sample program (Page 66)".
● You can run the user program, but you do not have to. If the program is not run, you only
see the initial values of the variables.
The procedure depends on the memory area in which the variables to be monitored are
stored.

Variables in the user memory of the unit or in the retentive memory

You can use the symbol browser to monitor the variables contained in the user memory of
the unit or in the retentive memory, see Memory ranges of the variable types (Page 194):
● Retentive and non-retentive unit variables of the interface section of a program source file
(unit)
● Retentive and non-retentive unit variables of the implementation section of a program
source file (unit)
● Static variables of the function blocks whose instances are declared as unit variables.
● In addition, if the program source file (unit) has been compiled with the "Create program
instance data only once" compiler option (Page 44):
– Static variables of the programs.
– Static variables of the function blocks whose instances are declared as static variables
of programs.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 257
Error Sources and Program Debugging
6.2 Program debugging

Follow these steps:

1. Select the program source file in the project navigator (e.g. ST_1).
2. In the detail view, click the Symbol browser tab.
You see in the symbol browser all variables of the program source file contained in the user
memory of the unit or in the retentive memory.
● All unit variables of the program source file.
● Only if the program source file has been compiled with the "Create program instance data
only once" compiler option: The programs of the program source file and below their
static variables (including instances of function blocks).

Variables in the user memory of the task

You can use the symbol browser to monitor the variables contained in the user memory of
the associated task, see Memory ranges of the variable types (Page 194):
If the program source (unit) was compiled without the compiler option (Page 44) "Create
program instance data only once" (default), the user memory of the task to which the
program was assigned contains the following variables:
● Static variables of the programs.
● Static variables of the function blocks whose instances are declared as static variables of
programs.
Follow these steps:
1. In the project navigator of SIMOTION SCOUT, select the EXECUTION SYSTEM element
in the subtree of the SIMOTION device.
2. In the detail view, click the Symbol browser tab.
The symbol browser shows all tasks used in the execution system together with the
assigned programs. The associated variables contained in the user memory of the task are
listed below.

Note
You can monitor temporary variables (together with unit variables and static variables) with
Program status (see Properties of the program status (Page 265)).

System variables and global device variables

You can also monitor the following variables in the symbol browser:
● System variables of SIMOTION devices
● System variables of technology objects
● I/O variables
● Global device variables
Follow these steps:
1. Select the appropriate element in the SIMOTION SCOUT project navigator.
2. In the detail view, click the Symbol browser tab.

SIMOTION ST Structured Text

258 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

The corresponding variables are displayed in the symbol browser.

Figure 6-1 Displaying the contents of variables using the symbol browser

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 259
Error Sources and Program Debugging
6.2 Program debugging

Status and controlling variables

In the Status value column, the current variable values are displayed and periodically
updated.
You can change the value of one or several variables. Proceed as follows for the variables to
be changed:
1. Enter a value in the Control value column.
2. Activate the checkbox in this column
3. Click the Immediate control button.
The values you entered are written to the selected variables.

NOTICE
Note when you change the values of several variables:
The values are written sequentially to the variables. It can take several milliseconds until
the next value is written. The variables are changed from top to bottom in the symbol
browser. There is therefore no guarantee of consistency.

Fix the display of the symbol browser

You can fix the display of the symbol browser for the active object:
● To do so, click the Retain display icon in the right upper corner of the symbol browser.
The displayed symbol changes to .
The variables of this object are still displayed and updated in the symbol browser even if
another object is selected in the project navigator.
● To remove the display, click the icon again. The displayed symbol changes back
to .

Display invalid floating-point numbers

Invalid floating-point numbers are displayed as follows in the symbol browser (independently
of the SIMOTION device):

Table 6-3 Display invalid floating-point numbers

LED Meaning
1.#QNAN Invalid bit pattern in accordance with IEEE 754 (NaN Not a Number) There is no
-1.#QNAN distinction between signaling NaN (NaNs) and quiet NaN (NaNq).
1.#INF Bit pattern for + infinity in accordance with IEEE 754
-1.#INF Bit pattern for – infinity in accordance with IEEE 754
-1.#IND Bit pattern for indeterminate

SIMOTION ST Structured Text

260 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

6.2.3 Monitoring variables in watch table

6.2.3.1 Variables in the watch table

With the symbol browser you see only the variables of an object within the project. With
program status you see only the variables of an ST source file within a freely selectable
monitoring area.
With watch tables, in contrast, you can monitor selected variables from different sources as a
group (e.g. program sources, technology objects, SINAMICS drives - even on different
devices).
You can see the data type of the variables in offline mode. You can view and modify the
value of the variables in online mode.

6.2.3.2 Using watch tables

You can group variables from various program sources, technology objects,
SIMOTION devices, etc. (even on different devices), in a watch table where you can monitor
them together and, if necessary, change them.

Creating a watch table

Procedure for creating a watch table and assigning variables:
1. In the project navigator, select the Monitor folder.
2. Select Insert > Watch table to create a watch table, and enter the name of the watch
table. A watch table with this name appears in the Monitor folder.
3. In the project navigator, click the object from which you want to move variables to the
watch table.
4. In the symbol browser, select the corresponding variable line by clicking its number in the
left column.
5. From the context menu, select the item Move variable to watch table and the appropriate
watch table, e.g. Watch table_1.
6. If you click the watch table, you will see in the detail view of the Watch table tab that the
selected variable is now in the watch table.
7. Repeat steps 3 to 6 to monitor the variables of various objects.
If you are connected with the target system, you can monitor the variable contents.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 261
Error Sources and Program Debugging
6.2 Program debugging

Status and controlling variables

In the Status value column, the current variable values are displayed and periodically
updated.
You can change the value of one or several variables. Proceed as follows for the variables to
be changed:
1. Enter a value in the Control value column.
2. Activate the checkbox in this column
3. Click the Immediate control button.
The values you entered are written to the selected variables.

NOTICE
Note when you change the values of several variables:
The values are written sequentially to the variables. It can take several milliseconds until
the next value is written. The variables are changed from top to bottom in the watch table.
There is therefore no guarantee of consistency.

Fix the display of the watch table

You can fix the display of the active watch table:
● To do so, click the Retain display icon in the right upper corner of the Watch table tab in
the detail view. The displayed symbol changes to .
This watch table is still displayed even if another one is selected in the project navigator.
● To remove the display, click the icon again. The displayed symbol changes back
to .

Display invalid floating-point numbers

Invalid floating-point numbers are displayed as follows in the watch table (independently of
the SIMOTION device):

Table 6-4 Display invalid floating-point numbers

LED Meaning
1.#QNAN Invalid bit pattern in accordance with IEEE 754 (NaN Not a Number) There is no
-1.#QNAN distinction between signaling NaN (NaNs) and quiet NaN (NaNq).
1.#INF Bit pattern for + infinity in accordance with IEEE 754
-1.#INF Bit pattern for – infinity in accordance with IEEE 754
-1.#IND Bit pattern for indeterminate

SIMOTION ST Structured Text

262 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

6.2.4 Program run

6.2.4.1 Program run: Display code location and call path

You can display the position in the code (e.g. line of an ST source file) that a MotionTask is
currently executing along with its call path.
Follow these steps:
1. Click the "Show program run" button on the Program run toolbar.
The "Program run call stack (Page 264)" window opens.
2. Select the desired MotionTask.
3. Click the "Update" button.
The window shows:
● The position in the code being executed (e.g. line of the ST source file) stating the
program source and the POU.
● Recursively positions in the code of other POUs that call the code position being
executed.
The following names are displayed for the SIMOTION RT program source files:

Table 6-5 SIMOTION RT program source files

Name Meaning
taskbind.hid Execution system
stdfunc.pck IEC library
device.pck Device-specific library
tp-name.pck Library of the tp-name technology package,
e.g. cam.pck for the library of the CAM technology package.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 263
Error Sources and Program Debugging
6.2 Program debugging

6.2.4.2 Parameter call stack program run

You can display the following for all configured tasks:
● the current code position in the program code (e.g. line of an ST source file)
● the call path of this code position

Table 6-6 Parameter description call stack program run

Field Description
Selected CPU The selected SIMOTION device is displayed.
Refresh Clicking the button reads the current code positions from the
SIMOTION device and shows them in the open window.
Calling task Select the task for which you want to determine the code position
being executed.
All configured tasks of the execution system.
Current code position The position being executed in the program code (e.g. line of an ST
source file) is displayed (with the name of the program source file,
line number, name of the POU).
is called by The code positions that call the code position being executed within
the selected task are shown recursively (with the name of the
program source file, line number, name of the POU, and name of the
function block instance, if applicable).
For names of the SIMOTION RT program sources, refer to the table in "Program
run (Page 263)".

6.2.4.3 Program run toolbar

You can display the position in the code (e.g. line of an ST source file) that a MotionTask is
currently executing along with its call path with this toolbar.

Table 6-7 Program run toolbar

Symbol Meaning
Display program run
Click this button to open the Program run call stack window. In this window, you can
display the currently active code position with its call path.
See: Program run: Display code position and call path (Page 263)

SIMOTION ST Structured Text

264 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

6.2.5 Program status

6.2.5.1 Properties of the program status

Status program enables monitoring the variable values accurately to the cycle during
program execution.
You can select a monitoring area in the ST source file and monitor, in addition to global and
static local variables, also temporary local variables (e.g. within a function) there.
The values of the following variables are displayed:
● Simple data type variables (INT, REAL, etc.)
● Individual elements of a structure, provided an assignment is made
● Individual elements of an array, provided an assignment is made
● Enumeration data type variables
While the selected monitoring range is running in the ST source file, the corresponding buffer
for the variables to be monitored is filled with the corresponding values on the
SIMOTION device. Once the selected monitoring range has been run, the buffer is formatted
for display in the SIMOTION SCOUT. SIMOTION SCOUT calls the formatted values at
regular intervals and displays them.
As of SIMOTION Kernel V3.2, you can select a location in an ST source file at which a
function or instance of a function block is called (call path). This enables you to observe the
variable values specifically for this call.

Note
Due to the restricted buffer capacity and the requirement for minimum runtime tampering, the
following variables cannot be displayed:
• Complete arrays
• Complete structures
Individual array elements or individual structure elements are displayed, however, provided
an assignment is made in the ST source file.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 265
Error Sources and Program Debugging
6.2 Program debugging

Table 6-8 Differences between process mode and test mode in Program Status

Process mode Test mode

Optimization of program execution For maximum system performance, only For full diagnosis options
restricted diagnosis is possible
Maximum number of monitored • As of version V4.0 of the SIMOTION • As of version V4.0 of the SIMOTION
program sources (e.g. ST source kernel: kernel:
files, MCC source files, LAD/FBD Maximum 1 program source per task Multiple program sources per task
sources) • Up to version V3.2 of the SIMOTION • Up to version V3.2 of the SIMOTION
kernel: kernel:
Maximum 1 program source Maximum 1 program source per task
Loops (e.g. WHILE, REPEAT, On repeat loops, the recording is If there are repeats, the recording
FOR) interrupted. continues correctly.
If the whole loop is selected, the values If the whole loop is selected, the values
are displayed on the first run of the loop. are displayed on the last run of the loop.
System functions that contain Values are not displayed in some cases Values are displayed correctly.
internal loops (e.g. functions for
processing strings)

NOTICE
Program status requires additional CPU resources.
Please note if you want to monitor several programs at the same time with the status
program:
• Test mode must be activated (see Operating modes of the SIMOTION
devices (Page 252))
• Up to version V4.0 of the SIMOTION Kernel, the programs must be assigned to various
tasks.

6.2.5.2 Using the status program

Before you can work with the Status program, you must instruct the system to run in a
special mode:
1. Make sure that the ST source file generates the additional debug code during
compilation:
– Select the ST source file in the project navigator and select the Edit > Object
properties menu command.
– Select the Compiler tab to change the local settings of the compiler (Page 46).
– Make sure that the Enable Status program checkbox is activated and confirm with OK.
You can also change this compiler option at global settings of the compiler (Page 45).
2. Open the ST source file and recompile it with ST source file > Accept and compile.
3. Download and start the program in the usual way.

SIMOTION ST Structured Text

266 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

4. Click the button for program status in the ST editor toolbar (Page 43) to start this test
mode.
The ST editor window is now divided vertically: You can see the ST source file in the left
pane; the right pane displays the selected variables and their values.

Figure 6-2 Part of an ST program in program status test mode

Follow the procedure below to test with program status:

1. In the editor, select the section of the ST source file you want to test.
2. As of version V3.2 of the SIMOTION Kernel:
If you have selected a section of a POU that is called by several positions in a program
source file or several tasks:
Enter the call path for program status (Page 268).
For the selected section, you can see variables and their values in the right pane of your
screen; they are updated cyclically:
● Values that have changed in the current pass are displayed in red.
● Values that have not changed are displayed in black.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 267
Error Sources and Program Debugging
6.2 Program debugging

● Variables without values, e.g. variables in an unused IF branch are shown in green and
marked with a question mark.
If the display of the variable values changes too fast:
● Click the button for Stop monitoring of program variables in the ST editor
toolbar (Page 43) to stop the display.
● Click the button for Continue monitoring of program variables in the ST editor
toolbar (Page 43) to continue the display.
You can force the update of the displayed values:
● Click the button for Update on the ST editor toolbar (Page 43).
The buffer of the SIMOTION device is read, even if the selected monitoring range has not
yet been completely processed and the values are incomplete. This can be useful, for
example, if the program is waiting for a WAITFORCONDITION statement.
The monitoring of the program variables must have been activated.

6.2.5.3 Call path for program status

With SIMOTION Kernel V3.2 and higher, you can specify the call path when monitoring
variable values of functions and function blocks. This enables you to observe the variable
values specifically for this call.
For this purpose, the Call path window automatically opens in the following cases:
● You have selected a section of a function:
The function is called at various points in the program source files (e.g. ST source files) of
the SIMOTION device.
● You have selected a section of a function block:
There are several instances of the function block or the instance is called at various
points in the program source files (e.g. ST source files) of the SIMOTION device.
● You have selected a section of a program:
The program is assigned to more than one task.

SIMOTION ST Structured Text

268 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

How to select the call path:

In the Call path status program window, the marked section of the POU (code position) is
displayed (with the name of the ST source file, line number, name of the POU).
1. If the code position is called in several tasks:
– Select the task.
2. Select the code position to be called (in the calling POU).
You can select from the following:
– The code positions to be called within the selected task (with the name of the program
source, line number, name of the POU).
If the selected calling code position is in turn called by several code positions, further
lines are displayed in which you proceed similarly.
– All:
All displayed code positions are selected. Moreover, all code positions (up to the top
level of the hierarchy) are selected from which the displayed code positions are called.

Program Status for devices with SIMOTION kernel versions up to V3.1

NOTICE
Note the following if you use Program Status in devices with SIMOTION kernels up to V3.1:
• If the project was compiled using SIMOTION SCOUT up to version V3.1, the call path is
not available in the described format. You can only use the diagnosis functions available
at the time of compilation.
• You can only specify the call path if the project was compiled using SIMOTION SCOUT
version V3.2 or higher.
When performing a recompilation with the current version of the compiler, note the
following:
• Among other effects, this generates new version identifiers in the data storage areas of
the programs.
• All retentive and non-retentive data on the SIMOTION device is deleted and initialized.
• In some cases, minor changes to the program sources may be required.
• When converting back to the old project status, the project must be recompiled.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 269
Error Sources and Program Debugging
6.2 Program debugging

6.2.5.4 Parameter call path status program

Table 6-9 Program status call path parameter description

Field Description
Calling task Select the task.
All tasks in which the selected code position is called are available
for selection.
Current code position The selected section of the POU (code position) is shown (with the
name of the ST source file, line number, name of the POU)
is called by Select the calling code position.
The following are available:
• The code positions to be called within the selected task (with the
name of the program source, line number, name of the POU).
If the selected calling code position is in turn called by several
code positions, further lines are displayed in which you proceed
similarly.
• All:
All displayed code positions are selected. Moreover, all code
positions (up to the top level of the hierarchy) are selected from
which the displayed code positions are called.

SIMOTION ST Structured Text

270 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

6.2.6 Breakpoints

6.2.6.1 General procedure for setting breakpoints

You can set breakpoints within a POU of a program source (e.g. ST source, MCC chart,
LAD/FBD source). On reaching an activated breakpoint, the task in which the POU with the
breakpoint is called is stopped. If the breakpoint that initiated the stopping of the tasks is
located in a program or function block, the values of the static variables for this POU are
displayed in the "Variables status" tab of the detail display. Temporary variables (also in/out
parameters for function blocks) are not displayed. You can monitor static variables of other
POUs or unit variables in the symbol browser.

Requirement:
● The program source with the POU (e.g. ST source file, MCC chart, LAD/FBD program) is
open.

Proceed as follows
Follow these steps:
1. Select "Debug mode" for the associated SIMOTION device,
see Set debug mode (Page 271).
2. Specify the debug task group, see Specifying the debug task group (Page 273).
3. Set breakpoints, see Setting breakpoints (Page 276).
4. Define the call path, see Defining a call path for a single breakpoint (Page 279).
5. Activate the breakpoints, see Activating breakpoints (Page 285).

6.2.6.2 Setting the debug mode

WARNING
You must observe the appropriate safety regulations.
Use the debug mode only with activated life-sign monitoring (Page 254) with a suitably
short monitoring time! Otherwise, if problems occur in the communication link between the
PC and the SIMOTION device, the axis may start moving in an uncontrollable manner.
The function is released exclusively for commissioning, diagnostic and service purposes.
The function should generally only be used by authorized technicians. The safety
shutdowns of the higher-level control have no effect!
Therefore, there must be an EMERGENCY STOP circuit in the hardware. The appropriate
measures must be taken by the user.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 271
Error Sources and Program Debugging
6.2 Program debugging

To set the debug mode, proceed as follows:

1. Highlight the SIMOTION device in the project navigator.
2. Select Test mode from the context menu.
3. Select Debugmode (Page 252).
4. Accept the safety information
5. Parameterize the sign-of-life monitoring.
See also section: Important information about the life-sign monitoring (Page 254).
6. Confirm with OK.
If no connection has been established with the target system (offline mode), the online
mode will be established automatically.
The activated debug mode is indicated in the status bar.
The breakpoints toolbar (Page 278) is displayed.

Note
You cannot change the program sources in debug mode!

NOTICE
Pressing the spacebar or switching to a different Windows application causes in debug
mode for activated breakpoints:
• The SIMOTION device switches to STOP mode.
• The outputs are deactivated (ODIS).

WARNING
This function is not guaranteed in all operating modes. Therefore, there must be an
EMERGENCY STOP circuit in the hardware. The appropriate measures must be taken by
the user.

SIMOTION ST Structured Text

272 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

6.2.6.3 Define the debug task group

On reaching an activated breakpoint, all tasks that are assigned to the debug task group are
stopped.

Requirement
● The relevant SIMOTION device is in debug mode.

Proceed as follows
How to assign a task to the debug task group:
1. Highlight the relevant SIMOTION device in the project navigator.
2. Select Debug task group from the context menu.
The Debug Task group window opens.
3. Select the tasks to be stopped on reaching the breakpoint:
– If you only want to stop individual tasks (in RUN mode): Activate the Debug task group
selection option.
Assign all tasks to be stopped on reaching a breakpoint to the Tasks to be stopped
list.
– If you only want to stop individual tasks (in HALT mode): Activate the All tasks
selection option.
In this case, also select whether the outputs and technology objects are to be released
again after resumption of program execution.

NOTICE
Note the different behavior when an activated breakpoint is reached, see the following
table.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 273
Error Sources and Program Debugging
6.2 Program debugging

Table 6-10 Behavior at the breakpoint depending on the tasks to be stopped in the debug task group.

Properties Tasks to be stopped

Single selected tasks All tasks
(debug task group)
Behavior on reaching the breakpoint
Operating mode RUN STOP
Stopped tasks Only tasks in the debug task group All tasks
Outputs Active Deactivated (ODIS activated)
Technology Closed-loop control active No closed-loop control (ODIS activated)
Runtime measurement of the Active for all tasks Deactivated for all tasks
tasks
Time monitoring of the tasks Deactivated for tasks in the debug task Deactivated for all tasks
group
Real-time clock Continues to run Continues to run
Behavior on resumption of program execution
Operating mode RUN RUN
Started tasks All tasks in the debug task group All tasks
Outputs Active The behavior of the outputs and the
Technology Closed-loop control active technology objects depends on the
'Continue' activates the outputs (ODIS
deactivated) checkbox.
• Active: ODIS will be deactivated. All
outputs and technology objects are
released.
• Inactive: ODIS remains activated. All
outputs and technology objects are
only released after another download
of the project.

Note
You can only make changes to the debug task group if no breakpoints are active.

Proceed as follows:
1. Set breakpoints (see Setting breakpoints (Page 276)).
2. Define the call path (see Defining a call path for a single breakpoint (Page 279)).
3. Activate the breakpoints (see Activating breakpoints (Page 285)).

SIMOTION ST Structured Text

274 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

6.2.6.4 Debug task group parameters

Use this window to define the debug task group. On reaching an activated breakpoint, all
tasks that are assigned to the debug task group are stopped.
This requires that the relevant SIMOTION device is in debug mode, see Modes of the
SIMOTION devices (Page 252).

Table 6-11 Debug settings parameter description

Field Description
Debug task group Select this selection option if you only want to stop individual tasks.
The SIMOTION device remains in RUN mode after an activated
breakpoint is reached. Outputs and technology objects remain
activated.
Assign all tasks to be stopped on reaching a breakpoint to the Tasks
to be stopped list.
All tasks Select this selection option if you only want to stop all user tasks.
The SIMOTION device remains in STOP mode after an activated
breakpoint is reached, all outputs and technology objects will be
deactivated (ODIS activated).
In this case, also select whether the outputs and technology objects
are to be released again after resumption of program execution.
'Resume' activates the outputs Only if All tasks is selected.
(ODIS deactivated). Activate the checkbox, to release again the outputs and technology
objects after program execution has been resumed.
All outputs and technology objects can only be released after a
download of the project with deactivated checkbox.

NOTICE
Note the different behavior at the activated breakpoint depending on the tasks to be
stopped, see table in Define the debug task group (Page 273).
You can only make changes to the debug task group if no breakpoints are active.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 275
Error Sources and Program Debugging
6.2 Program debugging

6.2.6.5 Debug table parameter

The debug table shows all debug points (e.g. breakpoints, trace points) in the program
sources of a SIMOTION device.

Table 6-12 Debug table parameter description

Field Description
Debug points (table)
Active The activation state of the breakpoint is displayed.
Click the checkbox to change the activation state.
See: Activating breakpoints (Page 285).
Source, line (POU) The code position is shown with the debug point set (with the name of
the program source file, line number, name of the POU).
Debug type The type of the debug point is shown (e.g. breakpoint, trace point).
Call path Click the button to define the call path for the breakpoint.
See: Defining the call path for a single breakpoint (Page 279).
All breakpoints ...
Activate Click the button to activate all breakpoints (in all program sources) of the
SIMOTION device.
See: Activating breakpoints (Page 285).
Deactivate Click the button to deactivate all breakpoints (in all program sources) of
the SIMOTION device.
See: Activating breakpoints (Page 285).
Delete Click the button to clear all breakpoints (in all program sources) of the
SIMOTION device.
See: Setting breakpoints (Page 276).

6.2.6.6 Setting breakpoints

Requirements:
1. The program source with the POU (e.g. ST source file, MCC chart, LAD/FBD program) is
open.
2. The relevant SIMOTION device is in debug mode,
see Setting debug mode (Page 271).
3. The debug task group is defined, see Defining the debug task group (Page 273).

SIMOTION ST Structured Text

276 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

Proceed as follows
How to set a breakpoint:
1. Select the code location where no breakpoint has been set:
– SIMOTION ST: Place the cursor on a line in the ST source file that contains a
statement.
– SIMOTION MCC: Select an MCC command in the MCC chart (except module or
comment block).
– SIMOTION LAD/FBD: Set the cursor in a network of the LAD/FBD program.
2. Alternative:
– Select the Edit > Set breakpoint menu command.
– Click the button in the Breakpoints toolbar.
To remove a breakpoint, proceed as follows:
1. Select the code position with the breakpoint.
2. Alternative:
– Select the Edit > Set breakpoint menu command.
– Click the button in the Breakpoints toolbar.
To remove all breakpoints (in all program sources) of the SIMOTION device, proceed as
follows:
● Alternative:
– Select the Debug > Remove all breakpoints menu command.
– Click the button in the Breakpoints toolbar.

Note
You cannot set breakpoints:
• For SIMOTION ST: In lines that contain only comment.
• For SIMOTION MCC: On the module or comment block commands.
• For SIMOTION LAD/FBD: Within a network.
• At code locations in which other debug points (e.g. trigger points) have been set.
You can list the debug points in all program sources of the SIMOTION device in the debug
table:
• Click the button for "debug table" in the Breakpoints toolbar.
In the debug table, you can also remove all breakpoints (in all program sources) of the
SIMOTION device:
• Click the button for "Clear all breakpoints".
Set breakpoints remain saved also after leaving the "debug mode", they are displayed only
in debug mode.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 277
Error Sources and Program Debugging
6.2 Program debugging

You can use the program status (Page 266) diagnosis functions and breakpoints together in
a program source file or POU. However, the following restrictions apply depending on the
program languages:
● SIMOTION ST: For Version V3.2 of the SIMOTION Kernel, the (marked) ST source file
lines to be tested with program status must not contain a breakpoint.
● SIMOTION MCC and LAD/FBD: The commands of the MCC chart (or networks of the
LAD/FBD program) to be tested with program status must not contain a breakpoint.

Proceed as follows
1. Define the call path, see Defining a call path for a single breakpoint (Page 279).
2. Activate the breakpoints, see Activating breakpoints (Page 285).

6.2.6.7 Breakpoints toolbar

This toolbar contains important operator actions for setting and activating breakpoints:

Table 6-13 Breakpoints toolbar

Symbol Meaning
Set/remove breakpoint
Click this icon to set at breakpoint for the selected code position or to remove an
existing breakpoint.
See: Setting breakpoints (Page 276).
Activate/deactivate breakpoint
Click this icon to activate or deactivate the breakpoint at the selected code position.
See: Activating breakpoints (Page 285).
Edit the call path
Click this icon to define the call path for the breakpoints:
• If a code position with breakpoint is selected: The call path for this breakpoint.
• If a code position without breakpoint is selected: The call path for all breakpoints
of the POU.
See: Defining the call path for a single breakpoint (Page 279), Defining the call path
for all breakpoints (Page 282).
Activate all breakpoints
Click this icon to activate all breakpoints in the current program source or POU (e.g.
ST source file, MCC chart, LAD/FBD program).
See: Activating breakpoints (Page 285).
Deactivate all breakpoints
Click this icon to deactivate all breakpoints in the current program source or POU
(e.g. ST source file, MCC chart, LAD/FBD program).
See: Activating breakpoints (Page 285).
Remove all breakpoints
Click this icon to remove all breakpoints in the current program source or POU (e.g.
ST source file, MCC chart, LAD/FBD program).
See: Setting breakpoints (Page 276).

SIMOTION ST Structured Text

278 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

Symbol Meaning
Debug table
Click this icon to display the debug table.
See: Debug table parameters (Page 276).
Display call stack
Click this icon after reaching an activated breakpoint to:
• View the call path at the current breakpoint.
• View the code positions at which the other tasks of the debug task group have
been stopped together with their call path.
See: Displaying the call stack (Page 287).
Resume
Click this icon to continue the program execution after reaching an activated
breakpoint.
See: Activating breakpoints (Page 285), Displaying the call stack (Page 287).

6.2.6.8 Defining the call path for a single breakpoint

Requirements:
1. The program source with the POU (e.g. ST source file, MCC chart, LAD/FBD program) is
open.
2. The relevant SIMOTION device is in debug mode,
see Setting debug mode (Page 271).
3. The debug task group is defined, see Defining the debug task group (Page 273).
4. Breakpoint is set, see Setting breakpoints (Page 276).

Proceed as follows
To define the call path for a single breakpoint, proceed as follows:
1. Select the code location where a breakpoint has already been set:
– SIMOTION ST: Set the cursor in an appropriate line of the ST source.
– SIMOTION MCC: Select an appropriate command in the MCC chart.
– SIMOTION LAD/FBD: Set the cursor in an appropriate network of the LAD/FBD
program.
2. Click the button for "edit call path" in the Breakpoints toolbar.
In the Call path / task selection breakpoint window, the marked code position is displayed
(with the name of the program source file, line number, name of the POU).
3. Select the task in which the user program (i.e. all tasks in the debug task group) will be
stopped when the selected breakpoint is reached.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 279
Error Sources and Program Debugging
6.2 Program debugging

The following are available:

– All calling locations starting at this call level
The user program will always be started when the activated breakpoint in any task of
the debug task group is reached.
– The individual tasks from which the selected breakpoint can be reached.
The user program will be stopped only when the breakpoint in the selected task is
reached. The task must be in the debug task group.
The specification of a call path is possible.
4. Only for functions and function blocks: Select the call path, i.e. the code position to be
called (in the calling POU).
The following are available:
– All calling locations starting at this call level
No call path is specified. The user program is always stopped at the activated
breakpoint if the POU in the selected tasks is called.
– Only when a single task is selected: The code positions to be called within the
selected task (with the name of the program source, line number, name of the POU).
The call path is specified. The user program will be stopped at the activated
breakpoint only when the POU is called from the selected code position.
If the POU of the selected calling code position is also called from other code
positions, further lines are displayed successively in which you proceed similarly.
5. If the breakpoint is only to be activated after the code position has been reached several
times, select the number of times.

Note
You can also define the call path to the individual breakpoints in the debug table:
1. Click the button for "debug table" in the Breakpoints toolbar.
The "Debug table" window opens.
2. Click the appropriate button in the "Call path" column.
3. Proceed in the same way as described above:
– Specify the task.
– Define the call path (only for functions and function blocks).
– Specify the number of passes after which the breakpoint is to be activated.

SIMOTION ST Structured Text

280 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

Proceed as follows:

● Activate the breakpoints, see Activating breakpoints (Page 285).

Note
You can use the "Display call stack (Page 287)" function to view the call path at a current
breakpoint and the code positions at which the other tasks of the debug task group were
stopped.

See also
Defining the call path for all breakpoints (Page 282)

6.2.6.9 Breakpoint call path / task selection parameters

Table 6-14 Breakpoint call path / task selection parameter description

Field Description
Selected CPU The selected SIMOTION device is displayed.
Calling task Select the task in which the user program (i.e. all tasks in the debug
task group) will be stopped when the selected breakpoint is reached.
The following are available:
• All calling locations starting at this call level
The user program will always be started when the activated
breakpoint in any task of the debug task group is reached.
• The individual tasks from which the POU with the selected
breakpoint can be reached.
The user program will be stopped only when the breakpoint in
the selected task is reached. The task must be in the debug task
group.
The specification of a call path is possible.
Current code position The code position is shown with the set breakpoint (with the name of
the program source file, line number, name of the POU).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 281
Error Sources and Program Debugging
6.2 Program debugging

Field Description
is called by Only for functions and function blocks:
Select the call path, i.e. the code position to be called (in the calling
POU).
The following are available:
• All calling locations starting at this call level
No call path is specified. The user program will always be
stopped at the activated breakpoint when the POU in the tasks is
reached.
• Only when a single task is selected: The code positions to be
called within the selected task (with the name of the program
source, line number, name of the POU).
The call path is specified. The user program will be stopped at
the activated breakpoint only when the POU is called from the
selected code position.
If the POU of the selected calling code position is also called
from other code positions, further lines are displayed
successively in which you proceed similarly.
The breakpoint will be If you do not want the breakpoint to be activated until the code
activated at each nth pass. position has been reached a certain number of times, set this
number.

NOTICE
You can only make changes to the debug task group if no breakpoints are active.

6.2.6.10 Defining the call path for all breakpoints

With this procedure, you can:
● Select a default setting for all future breakpoints in a POU (e.g. MCC chart, LAD/FBD
program or POU in an ST source file).
● Accept and compare the call path for all previously set breakpoints in this POU.

Requirements
● The program source with the POU (e.g. ST source file, MCC chart, LAD/FBD program) is
open.
● The relevant SIMOTION device is in debug mode,
see Setting debug mode (Page 271).
● The debug task group is defined, see Defining the debug task group (Page 273).

SIMOTION ST Structured Text

282 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

Proceed as follows
To define the call path for all future breakpoints of a POU, proceed as follows:
1. Select the code location where no breakpoint has been set:
– SIMOTION ST: Set the cursor in an appropriate line of the ST source.
– SIMOTION MCC: Select an appropriate command in the MCC chart.
– SIMOTION LAD/FBD: Set the cursor in an appropriate network of the LAD/FBD
program.
2. Click the button for "edit call path" in the Breakpoints toolbar.
In the "Call path / task selection all breakpoints for each POU" window, the marked code
position is displayed (with the name of the program source file, line number, name of the
POU).
3. Select the task in which the user program (i.e. all tasks in the debug task group) will be
stopped when a breakpoint in this POU is reached.
The following are available:
– All calling locations starting at this call level
The user program will always be started when an activated breakpoint of the POU in
any task of the debug task group is reached.
– The individual tasks from which the selected breakpoint can be reached.
The user program will be stopped only when a breakpoint in the selected task is
reached. The task must be in the debug task group.
The specification of a call path is possible.
4. Only for functions and function blocks: Select the call path, i.e. the code position to be
called (in the calling POU).
The following are available:
– All calling locations starting at this call level
No call path is specified. The user program is always stopped at an activated
breakpoint when the POU in the selected tasks is called.
– Only when a single task is selected: The code positions to be called within the
selected task (with the name of the program source, line number, name of the POU).
The call path is specified. The user program will be stopped at an activated breakpoint
only when the POU is called from the selected code position.
If the selected calling code position is in turn called by other code positions, further
lines are displayed successively in which you proceed similarly.
5. If a breakpoint is only to be activated after the code position has been reached several
times, select the number of times.
6. If you want to accept and compare this call path for all previously set breakpoints in this
POU:
– Click Accept.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 283
Error Sources and Program Debugging
6.2 Program debugging

Proceed as follows:
● Activate the breakpoints, see Activating breakpoints (Page 285).

Note
You can use the "Display call stack (Page 287)" function to view the call path at a current
breakpoint and the code positions at which the other tasks of the debug task group were
stopped.

See also
Defining the call path for a single breakpoint (Page 279)

6.2.6.11 Call path / task selection parameters of all breakpoints per POU
Here you can define a presetting for the call path of all future breakpoints to be set in a POU.
Moreover, you can also accept this setting for all previously set breakpoints of this POU.

Table 6-15 Call path / task selection parameter description of all breakpoints per POU

Field Description
Selected CPU The selected SIMOTION device is displayed.
Calling task Select the task in which the user program (i.e. all tasks in the debug task
group) will be stopped when a breakpoint in this POU is reached.
The following are available:
• All calling locations starting at this call level
The user program will always be started when an activated breakpoint
of the POU in any task of the debug task group is reached.
• The individual tasks from which the selected breakpoint can be
reached.
The user program will be stopped only when an activated breakpoint in
the selected task is reached. The task must be in the debug task
group.
The specification of a call path is possible.
Current POU The POU in which the cursor is located is displayed (with the name of the
program source file, name of the POU).

SIMOTION ST Structured Text

284 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

Field Description
is called by Only for functions and function blocks:
Select the call path, i.e. the code position to be called (in the calling POU).
The following are available:
• All calling locations starting at this call level
No call path is specified. The user program will always be stopped at
an activated breakpoint when the POU in the selected tasks is called.
• Only when a single task is selected: The code positions to be called
within the selected task (with the name of the program source, line
number, name of the POU).
The call path is specified. The user program will be stopped at an
activated breakpoint only when the POU is called from the selected
code position.
If the POU of the selected calling code position is also called from
other code positions, further lines are displayed successively in which
you proceed similarly.
The breakpoint will be If you do not want the breakpoint to be activated until the code position
activated at each nth has been reached a certain number of times, set this number.
pass.
Apply this call path to all Click the Apply button, if you want to apply the call path to all previously
previous breakpoints of set breakpoints of the current POU. Any existing settings will be
this POU overwritten.

6.2.6.12 Activating breakpoints

Breakpoints must be activated if they are to have an effect on program execution.

Requirements
1. The program source with the POU (e.g. ST source file, MCC chart, LAD/FBD program) is
open.
2. The relevant SIMOTION device is in debug mode,
see Setting debug mode (Page 271).
3. The debug task group is defined, see Defining the debug task group (Page 273).
4. Breakpoints are set, see Setting breakpoints (Page 276).
5. Call paths are defined, see Defining a call path for a single breakpoint (Page 279).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 285
Error Sources and Program Debugging
6.2 Program debugging

Activating breakpoints
How to activate a single breakpoint:
1. Select the code location where a breakpoint has already been set:
– SIMOTION ST: Set the cursor in an appropriate line of the ST source.
– SIMOTION MCC: Select an appropriate command in the MCC chart.
– SIMOTION LAD/FBD: Set the cursor in an appropriate network of the LAD/FBD
program.
2. Alternative:
– Select the Debug > Activate/deactivate breakpoint menu command.
– Click the button in the Breakpoints toolbar.
To activate all breakpoints (in all program sources) of the SIMOTION device, proceed as
follows:
● Alternative:
– Select the Debug > Activate all breakpoints menu command.
– Click the button in the Breakpoints toolbar.

Note
Breakpoints of all program sources of the SIMOTION device can also be activated and
deactivated in the debug table:
1. Click the button for "debug table" in the Breakpoints toolbar.
The "Debug table" window opens.
2. Perform the action below, depending on which breakpoints you want to activate or
deactivate:
– Single breakpoints: Check or clear the corresponding checkboxes.
– All breakpoints (in all program sources): Click the corresponding button.

Behavior at the activated breakpoint

On reaching an activated breakpoint (possibly using the selected call path (Page 279)), all
tasks assigned to the debug task group will be stopped. The behavior depends on the tasks
in the debug task group and is described in "Defining a debug task group (Page 273)". The
breakpoint is highlighted.
If the breakpoint that initiated the stopping of the tasks is located in a program or function
block, the values of the static variables for this POU are displayed in the "Variables status"
tab of the detail display. Temporary variables (also in/out parameters for function blocks) are
not displayed. You can monitor static variables of other POUs or unit variables in the symbol
browser (Page 257).
You can use the "Display call stack (Page 287)" function to:
● View the call path at the current breakpoint.
● View the code positions with the call path at which the other tasks of the debug task
group have been stopped.

SIMOTION ST Structured Text

286 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

Resuming program execution

How to resume program execution:
● Click the button for "resume" (Ctrl+F8 shortcut) in the Breakpoint toolbar.

Deactivate breakpoints
To deactivate a single breakpoint, proceed as follows:
1. Select the code position with the activated breakpoint.
2. Alternative:
– Select the Debug > Activate/deactivate breakpoint menu command.
– Click the button in the Breakpoints toolbar.
To deactivate all breakpoints (in all program sources) of the SIMOTION device, proceed as
follows:
● Alternative:
– Select the Debug > Deactivate all breakpoints menu command.
– Click the button in the Breakpoints toolbar.

6.2.6.13 Display call stack

You can use the "Display call stack" function to:
● View the call path at the current breakpoint.
● View the code positions with the call path at which the other tasks of the debug task
group have been stopped.

Requirement
The user program is stopped at an activated breakpoint, i.e. the tasks of the debug task
group (Page 273) have been stopped.

Proceed as follows
To call the "Display call stack" function, proceed as follows:
● Click the button for "display call stack" in the Breakpoints toolbar.
The "Breakpoint call stack" dialog opens. The current call path (including the calling task
and the number of the set passes) is displayed.
The call path cannot be changed.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 287
Error Sources and Program Debugging
6.2 Program debugging

To use the "Display call stack" function, proceed as follows:

1. Keep the "Breakpoint call stack" dialog open.
2. To display the code position at which the other task was stopped, proceed as follows:
– Select the appropriate task. All tasks of the debug task group can be selected.
The code position, including the call path, is displayed. If the code position is contained in
a user program, the program source with the POU (e.g. ST source file, MCC chart,
LAD/FBD program) will be opened and the code position marked.
3. How to resume program execution:
– Click the button for "resume" (Ctrl+F8 shortcut) in the Breakpoint toolbar.
When the next activated breakpoint is reached, the tasks of the debug task group will be
stopped again. The current call path, including the calling task, is displayed.
4. Click "OK" to close the "Breakpoint call stack" dialog.
For names of the SIMOTION RT program sources, refer to the table in "Program
run (Page 263)".

6.2.6.14 Breakpoints call stack parameter

When an activated breakpoint (Page 285) is reached, you can display the following for each
task in the debug task group (Page 273):
● The position in the program code (e.g. line of an ST source file) at which the task
stopped.
● The call path of this code position.

Table 6-16 Breakpoint call path parameter description

Field Description
Selected CPU The selected SIMOTION device is displayed.
Calling task Select the task for which you want to display the code position at
which the task was stopped.
All tasks of the debug task group can be selected.
Current code position The position in the program code (e.g. line of an ST source file) at
which the selected task was stopped is displayed (with the name of
the program source file, line number, name of the POU).
is called by The code positions that call the current code position within the
selected task are shown recursively (with the name of the program
source file, line number, name of the POU, and name of the function
block instance, if applicable).
For names of the SIMOTION RT program sources, refer to the table in "Program
run (Page 263)".

SIMOTION ST Structured Text

288 Programming and Operating Manual, 08/2008
 Error Sources and Program Debugging
6.2 Program debugging

6.2.7 Trace
Using the trace tool, you can record and store the course of variable values over time (z. B.
unit variables, local variables, system variables, I/O variables). This allows you to document
the optimization, for example, of axes.
You can set the recording time, display up to four channels, select trigger conditions,
parameterize timing adjustments, select between different curve displays and scalings, etc.
Aside from isochronous recording, you can also select Recording at code position. This lets
you record the values of variables whenever the program runs through a specific point in the
ST source file.
The trace tool is described in detail in the online help.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 289
Appendix A
A.1 Formal Language Description
In this chapter, you will find overviews of the basic elements of ST and a complete
compilation of all syntax diagrams with the language elements. This appendix summarizes
the basic features of the ST language.

A.1.1 Language description resources

Syntax diagrams are used as a basis for the language description in the individual sections.
They provide you with an invaluable insight into the syntactic (i.e. grammatical) structure of
ST.
Instructions for using syntax diagrams were presented in Language description resources.
Information about the difference between formatted and unformatted rules, of interest to the
advanced user, is presented below.

A.1.1.1 Formatted rules (lexical rules)

The lexical rules describe the structure of the elements processed by the compiler during
lexical analysis. This means that the notation is formatted and the rules must be followed. In
particular, that means:
● Insertion of formatting characters is not allowed.
● Block and line comments cannot be inserted.
● Attributes for identifiers cannot be inserted.
The following figure shows a lexical rule for legal identifiers.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 291
Appendix
A.1 Formal Language Description

,GHQWLILHU IRUPDWWHG

/HWWHU /HWWHU

B

/HWWHU 'LJLW

B 8QGHUVFRUH

'LJLW /HWWHU$=D]
8QGHUVFRUH ಺'LJLW

Figure A-1 Example of a lexical rule

Valid examples according to this rule include:

R_CONTROLLER3
_A_ARRAY
_100_3_3_10

SIMOTION ST Structured Text

292 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

A.1.1.2 Unformatted rules (syntactic rules)

The syntactic rules build on the lexical rules and describe the structure of ST. You can write
your ST program unformatted within the framework of these rules.
The unformatted property means:
● Formatting characters can be inserted anywhere.
● Block and line comments can be inserted.
The following example shows the syntactic rule for assigning a value in a statement.

9DOXHDVVLJQPHQW XQIRUPDWWHG

9DULDEOHRIWKH
HOHPHQWDU\GDWDW\SH

9DULDEOHRIWKH
HQXPHUDWRUGDWDW\SH

$UUD\YDULDEOH

6WUXFWXUHGYDULDEOH

$EVROXWH3,DFFHVV   ([SUHVVLRQ

2XWSXWVRQO\

([WHUQDOWDJ

$FFHVVWR)%LQSXWSDUDPHWHUV !

'LUHFWELWDFFHVV !

!2QO\IRUDFWLYDWHG3HUPLWODQJXDJHH[WHQVLRQVFRPSLOHURSWLRQ

Figure A-2 Example of a syntactic rule

Valid examples according to this rule include:

VARIABLE_1 := 100; SWITCH := FALSE;

//'This is a comment
VARIABLE_2:=3.2 +VARIABLE_1;

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 293
Appendix
A.1 Formal Language Description

A.1.2 Basic elements (terminals)

A terminal is a basic element that is declared verbally and not by a further rule. It is
represented in the syntax diagrams by an oval or circle.

A.1.2.1 Letters, digits and other characters

Letters and digits are the most commonly used characters. The identifier, for example,
consists of a combination of letters, digits, and the underscore. The underscore is one of the
special characters.

Table A-1 Letters and digits

Characters Subgroup Character set elements

Letter Upper case A .. Z
Lower case a .. z
Digit Decimal digit 0 .. 9
Octal digit Octal digit 0 .. 7
Hexadecimal digit Hexadecimal digit 0 .. 9, A .. F, a .. f
Bit Binary digit 0, 1
You can use the complete extended ASCII character set in comments. You can use all
printable ASCII code characters starting from decimal equivalent 32 (blank).
For language commands, identifiers, constants, expressions and operators, you can use
special characters, i.e. characters other than letters and digits, only according to certain
rules.

A.1.2.2 Formatting characters and separators in the rules

Formatting characters and separators are used differently in formatted (lexical) and
unformatted (syntactic) rules. Language description resources (Page 291) describes the
differences between syntactic and lexical rules.
In the tables below, you will find the formatting characters and separators of the lexical and
syntactic rules. You are also provided with a description and a list of all rules in which the
formatting characters and separators are used as terminals (see Rules (Page 307)).

SIMOTION ST Structured Text

294 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

Table A-2 Formatting characters and separators in lexical rules

Characters Description Lexical rule

: Separator between hours, minutes, Time of day information
and seconds
. Separator for floating-point Floating-point representation, time-of-day
representation, time interval information, decimal representation, access
representation, absolute addressing to local or global instance
_ Separator for identifiers, separator for Identifiers, decimal digit string, binary digit
Underscore numerical values in constants string, octal digit string, hexadecimal digit
string, sequence representation
% Prefix for direct identifier on CPU Simple memory access
memory access
// Comment Line comment
(**) Comment Block comment

Table A-3 Formatting characters and separators in syntactic rules

Characters Description Syntactic rule

: Separator for type information Function, variable declaration, component
declaration, CASE statement, instance
declaration
; Ends a declaration or statement Constant block, statement, variable
declaration, instance declaration, component
declaration, statement section
, Separator for lists Variable declaration, array initialization list,
instance declaration, ARRAY data type
specification, FB parameter, FC parameter,
value list
.. Range information Array data type specification, value list
. Structure access Structured variable
() Initialization list for arrays, Array initialization list, expression, simple
parentheses in expressions, function multiplication, operand, exponent, FB call,
and function block calls function call
[] Array declaration, structured variable Array data type specification
section of array

See also
Language description resources (Page 71)

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 295
Appendix
A.1 Formal Language Description

A.1.2.3 Formatting characters and separators for constants

Below, you will find all formatting characters and separators for constants with information on
the lexical rule in which they are used.

Table A-4 Formatting characters and separators for constants

Characters Code for Lexical rule

2# Integer constant Binary digit string
8# Integer constant Octal digit string
16# Integer constant Hexadecimal digit string
E Separator for floating-point constants Exponent
E Separator for floating-point constants Exponent
D# Time information Date
DATE# Time information Date
DATE_AND_TIME# Time information Date and time
DT# Time information Date and time
T# Time information Duration
TIME# Time information Duration
TIME_OF_DAY# Time information Time of day
TOD# Time information Time of day
d Separator for time interval (day) Days (rule: Sequence
representation)
h Separator for time interval (hours) Hours
(rule: Sequence representation)
m Separator for time interval (minutes) Minutes
(rule: Sequence representation)
ms Separator for time interval Milliseconds
(milliseconds) (rule: Sequence representation)
s Separator for time interval (seconds) Seconds
(rule: Sequence representation)

SIMOTION ST Structured Text

296 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

A.1.2.4 Predefined identifiers for process image access

Below is a list of all predefined variables in ST that you can use to access CPU memory
areas (absolute identifiers). Note that you can read and write outputs but you can only read
inputs.

Table A-5 Absolute identifier

Identifier Description Lexical rule

%In.x CPU input range with byte and bit address Absolute PI access
or
%IXn.x
%IBn CPU input range with byte address Absolute PI access
%IWn CPU input range with word address Absolute PI access
%IDn CPU input range with double word address Absolute PI access
%Qn.x CPU output range with byte and bit address Absolute PI access
or
%QXn.x
%QBn CPU output range with byte address Absolute PI access
%QWn CPU output range with word address Absolute PI access
%QDn CPU output range with double word address Absolute PI access

A.1.2.5 Identifiers of the Taskstartinfo

The following identifiers are defined for the Taskstartinfo:

Table A-6 Identifiers of the Taskstartinfo

Identifier Data type Description

TSI#alarmNumber DINT Scan for alarm number
TSI#commandId.high UDINT Scan for commandId (most significant word)
TSI#commandId.low UDINT Scan for commandId (least significant word)
TSI#currentTaskId StructTaskId Scan for TaskId of current task
TSI#cycleTime TIME Scan for configured cycle time of current task
TSI#details DWORD Scan for detailed information
TSI#executionFaultType UDINT Scan for type of execution error
TSI#interruptId UDINT Scan for triggering event
TSI#logBaseAdrIn DINT Scan for logical base address
TSI#logBaseAdrOut DINT Scan for logical base address
TSI#logDiagAddr DINT Scan for logical diagnostic address
TSI#shutDownInitiator UDINT Scan for cause of transition to STOP
TSI#startTime DT Scan for start time
TSI#taskId StructTaskId Scan for TaskId of triggering task
TSI#toInst ANYOBJECT Scan for TO instance

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 297
Appendix
A.1 Formal Language Description

A.1.2.6 Operators
Below is a list of all ST operators and the syntactic rules in which they are used.

Table A-7 ST operators

Operator Description Rule

:= Assignment operator (also Value assignment, input assignment, in/out
for initialization values) assignment, variable declaration, constant
declaration, user-defined data types,
component declaration
+, – Arithmetic operators: Unary Expression, exponent
operators, sign
+, –, *, / Basic arithmetic operators Expression, basic arithmetic operator
MOD
** Arithmetic operators: Expression
Exponent operator
NOT Logic operators: Negation Expression, operand
AND, &, OR, XOR Basic logic operator Basic logic operator
<, >, <=, >=, =, <> Relational operator Relational operator
=> Assignment operator Output assignment

SIMOTION ST Structured Text

298 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

A.1.2.7 Reserved words

Below is an alphabetical list of keywords, predefined identifiers, and standard functions of
the basic ST system. You are also provided with a description and the syntactic rule from
rules in which they are used as terminals. An exception is standard functions, which are
included only implicitly in the syntactic rule for function calls as the standard function name.

Note
Variables must not be assigned the names of keywords or predefined identifiers. For more
information about identifiers, see Identifiers in ST. You will find an overview of the identifiers
reserved for technology objects and other reserved identifiers in Reserved identifiers.

Table A-8 ST keywords and predefined identifiers in the basic ST system

Keyword/identifier Description Rule

ABS Standard numeric function Function call
ACOS Standard numeric function Function call
AND Logic operator Basic logic operator
ANYOBJECT General data type for technology TO data type
objects
ANYOBJECT_TO_OBJECT Standard function for type conversion Function call
(technology objects)
ANYTYPE_TO_BIGBYTEARRAY Standard function (marshalling) Function call
ANYTYPE_TO_LITTLEBYTEARRAY Standard function (marshalling) Function call
ARRAY Introduces the specification of an array Array data type specification
and is followed by the index list
between [ and ]
AS Introduces a namespace –
ASIN Standard numeric function Function call
AT Reserved identifier –
ATAN Standard numeric function Function call
BIGBYTEARRAY_TOANYTYPE Standard function (marshalling) Function call
BOOL Elementary data type for binary data Bit data type
BOOL_TO_BYTE Standard function for type conversion Function call
BOOL_TO_DWORD Standard function for type conversion Function call
BOOL_TO_WORD Standard function for type conversion Function call
BOOL_VALUE_TO_DINT Standard function for type conversion Function call
BOOL_VALUE_TO_INT Standard function for type conversion Function call
BOOL_VALUE_TO_LREAL Standard function for type conversion Function call
BOOL_VALUE_TO_REAL Standard function for type conversion Function call
BOOL_VALUE_TO_SINT Standard function for type conversion Function call
BOOL_VALUE_TO_UDINT Standard function for type conversion Function call
BOOL_VALUE_TO_UINT Standard function for type conversion Function call
BOOL_VALUE_TO_USINT Standard function for type conversion Function call
BY Introduces the increment FOR statement

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 299
Appendix
A.1 Formal Language Description

Keyword/identifier Description Rule

BYTE Elementary data type Bit data type
BYTE_TO_BOOL Standard function for type conversion Function call
BYTE_TO_DINT Standard function for type conversion Function call
BYTE_TO_DWORD Standard function for type conversion Function call
BYTE_TO_INT Standard function for type conversion Function call
BYTE_TO_SINT Standard function for type conversion Function call
BYTE_TO_UDINT Standard function for type conversion Function call
BYTE_TO_UINT Standard function for type conversion Function call
BYTE_TO_USINT Standard function for type conversion Function call
BYTE_TO_WORD Standard function for type conversion Function call
BYTE_VALUE_TO_LREAL Standard function for type conversion Function call
BYTE_VALUE_TO_REAL Standard function for type conversion Function call
CASE Introduces a control statement for CASE statement
selection
CONCAT Standard function for string editing Function call
CONCAT_DATE_TOD Standard function for type conversion Function call
CONSTANT Introduces a constant definition Constant block
COS Standard numeric function Function call
CTD Down counter Function block call
CTD_DINT Down counter Function block call
CTD_UDINT Down counter Function block call
CTU Up counter Function block call
CTU_DINT Up counter Function block call
CTU_UDINT Up counter Function block call
CTUD Up/down counter Function block call
CTUD_DINT Up/down counter Function block call
CTUD_UDINT Up/down counter Function block call
DATE Elementary data type for date Time type
DATE_AND_TIME Elementary data type for date and time DATE_AND_TIME
DATE_AND_TIME_TO_DATE Standard function for type conversion Function call
DATE_AND_TIME_TO_TIME_OF_DAY Standard function for type conversion Function call
DELETE Standard function for string editing Function call
DINT Elementary data type for double Numeric data type
precision integer with value range -
2**31 to 2**31-1
DINT_TO_BYTE Standard function for type conversion Function call
DINT_TO_DWORD Standard function for type conversion Function call
DINT_TO_INT Standard function for type conversion Function call
DINT_TO_LREAL Standard function for type conversion Function call
DINT_TO_REAL Standard function for type conversion Function call
DINT_TO_SINT Standard function for type conversion Function call
DINT_TO_STRING Standard function for type conversion Function call
DINT_TO_UDINT Standard function for type conversion Function call

SIMOTION ST Structured Text

300 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

Keyword/identifier Description Rule

DINT_TO_UINT Standard function for type conversion Function call
DINT_TO_USINT Standard function for type conversion Function call
DINT_TO_WORD Standard function for type conversion Function call
DINT_VALUE_TO_BOOL Standard function for type conversion Function call
DO Introduces the statement section for FOR statement, WHILE statement
FOR statement or WHILE statement
DT Shorthand notation for DATE_AND_TIME
DATE_AND_TIME
DT_TO_DATE Standard function for type conversion Function call
DT_TO_TOD Standard function for type conversion Function call
DWORD Elementary data type for double word Bit data type
DWORD_TO_BOOL Standard function for type conversion Function call
DWORD_TO_BYTE Standard function for type conversion Function call
DWORD_TO_DINT Standard function for type conversion Function call
DWORD_TO_INT Standard function for type conversion Function call
DWORD_TO_REAL Standard function for type conversion Function call
DWORD_TO_SINT Standard function for type conversion Function call
DWORD_TO_UDINT Standard function for type conversion Function call
DWORD_TO_UINT Standard function for type conversion Function call
DWORD_TO_USINT Standard function for type conversion Function call
DWORD_TO_WORD Standard function for type conversion Function call
DWORD_VALUE_TO_LREAL Standard function for type conversion Function call
DWORD_VALUE_TO_REAL Standard function for type conversion Function call
ELSE Introduces the clause to be executed if IF statement, CASE statement
no condition true
ELSIF Introduces alternative condition IF statement
END_CASE Ends the CASE statement CASE statement
END_EXPRESSION Ends the EXPRESSION statement Function
END_FOR Ends the FOR statement FOR statement
END_FUNCTION Ends the function Function
END_FUNCTION_BLOCK Ends the function block Function block
END_IF Ends the IF statement IF statement
END_IMPLEMENTATION Ends the implementation section Implementation section
END_INTERFACE Ends the interface section Interface section
END_LABEL Ends the LABEL statement –
END_PROGRAM Ends the program section Program section
END_REPEAT Ends the REPEAT statement REPEAT statement
END_STRUCT Ends the specification of a structure STRUCT data type specification
END_TYPE Ends the UDT User-defined data type
END_VAR Ends a declaration block Temporary variable block, static
variable block, parameter block,
constant block
END_WAITFORCONDITION Ends the control statement for a task WAITFORCONDITION statement
waiting for a programmable event

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 301
Appendix
A.1 Formal Language Description

Keyword/identifier Description Rule

END_WHILE Ends the WHILE statement WHILE statement
ENUM_TO_DINT Standard function for type conversion Function call
EXIT Direct exit from loop execution EXIT
EXP Standard numeric function Function call
EXPD Standard numeric function Function call
EXPRESSION Programmable event for waiting task Function
EXPT Standard numeric function Function call
F_TRIG Detects falling edge Function block call
FALSE Predefined Boolean constant: Logical –
condition false, value equal to 0
FIND Standard function for string editing Function call
FOR Introduces control statement for loop FOR statement
execution
FUNCTION Introduces the function Function
FUNCTION_BLOCK Introduces the function block Function block
GOTO Jump –
IF Introduces a control statement for IF statement
selection
IMPLEMENTATION Introduces the IMPLEMENTATION IMPLEMENTATION section
section
INSERT Standard function for string editing Function call
INT Elementary data type for single Numeric data type
precision integer with value range -
2**15 to 2**15-1
INT_TO_BYTE Standard function for type conversion Function call
INT_TO_DINT Standard function for type conversion Function call
INT_TO_DWORD Standard function for type conversion Function call
INT_TO_LREAL Standard function for type conversion Function call
INT_TO_REAL Standard function for type conversion Function call
INT_TO_SINT Standard function for type conversion Function call
INT_TO_TIME Standard function for type conversion Function call
INT_TO_UDINT Standard function for type conversion Function call
INT_TO_UINT Standard function for type conversion Function call
INT_TO_USINT Standard function for type conversion Function call
INT_TO_WORD Standard function for type conversion Function call
INT_VALUE_TO_BOOL Standard function for type conversion Function call
INTERFACE Introduces the interface section Interface section
LABEL Definition of jump labels –
LEFT Standard function for string editing Function call
LEN Standard function for string editing Function call
LIMIT Standard function for selection Function call
LITTLEBYTEARRAY_TOANYTYPE Standard function (marshalling) Function call
LN Standard numeric function Function call
LOG Standard numeric function Function call

SIMOTION ST Structured Text

302 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

Keyword/identifier Description Rule

LREAL Elementary data type for 64-bit double- Numeric data type
precision floating-point number (long
real)
LREAL_TO_DINT Standard function for type conversion Function call
LREAL_TO_INT Standard function for type conversion Function call
LREAL_TO_REAL Standard function for type conversion Function call
LREAL_TO_SINT Standard function for type conversion Function call
LREAL_TO_STRING Standard function for type conversion Function call
LREAL_TO_UDINT Standard function for type conversion Function call
LREAL_TO_UINT Standard function for type conversion Function call
LREAL_TO_USINT Standard function for type conversion Function call
LREAL_VALUE_TO_BOOL Standard function for type conversion Function call
LREAL_VALUE_TO_BYTE Standard function for type conversion Function call
LREAL_VALUE_TO_DWORD Standard function for type conversion Function call
LREAL_VALUE_TO_WORD Standard function for type conversion Function call
MAX Standard function for selection Function call
MID Standard function for string editing Function call
MIN Standard function for selection Function call
MOD Arithmetic operator for division Basic arithmetic operator, simple
remainder multiplication
MUX Standard function for selection Function call
NOT Logic operator, belongs to the unary Expression, operand
operators
OF Introduces data type specification Array data type specification, CASE
statement
OR Logic operator Basic logic operator
PROGRAM Introduces the PROGRAM section Program
R_TRIG Detects rising edge Function block call
REAL Elementary data type for 32-bit single Numeric data type
precision floating-point number (real)
REAL_TO_DINT Standard function for type conversion Function call
REAL_TO_DWORD Standard function for type conversion Function call
REAL_TO_INT Standard function for type conversion Function call
REAL_TO_LREAL Standard function for type conversion Function call
REAL_TO_SINT Standard function for type conversion Function call
REAL_TO_STRING Standard function for type conversion Function call
REAL_TO_TIME Standard function for type conversion Function call
REAL_TO_UDINT Standard function for type conversion Function call
REAL_TO_UINT Standard function for type conversion Function call
REAL_TO_USINT Standard function for type conversion Function call
REAL_VALUE_TO_BOOL Standard function for type conversion Function call
REAL_VALUE_TO_BYTE Standard function for type conversion Function call
REAL_VALUE_TO_DWORD Standard function for type conversion Function call
REAL_VALUE_TO_WORD Standard function for type conversion Function call

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 303
Appendix
A.1 Formal Language Description

Keyword/identifier Description Rule

REPEAT Introduces control statement for loop REPEAT statement
execution
REPLACE Standard function for string editing Function call
RETAIN Declaration of buffered variables Retentive variable block
RETURN Control statement for returning from RETURN statement
subroutine
RIGHT Standard function for string editing Function call
ROL Bit string standard functions Function call
ROR Bit string standard functions Function call
RS Bistable function block Function block call
(priority reset)
RTC Real-time clock Function block call
SEL Standard function for selection Function call
SHL Bit string standard functions Function call
SHR Bit string standard functions Function call
SIN Standard numeric function Function call
SINT Elementary data type for short integer Numeric data type
with value range -128 to 127
SINT_TO_BYTE Standard function for type conversion Function call
SINT_TO_DINT Standard function for type conversion Function call
SINT_TO_DWORD Standard function for type conversion Function call
SINT_TO_INT Standard function for type conversion Function call
SINT_TO_LREAL Standard function for type conversion Function call
SINT_TO_REAL Standard function for type conversion Function call
SINT_TO_UDINT Standard function for type conversion Function call
SINT_TO_UINT Standard function for type conversion Function call
SINT_TO_USINT Standard function for type conversion Function call
SINT_TO_WORD Standard function for type conversion Function call
SINT_VALUE_TO_BOOL Standard function for type conversion Function call
SQRT Standard numeric function Function call
SR Bistable function block Function block call
(priority set)
STRING Elementary data type for character String data type
strings
STRING_TO_DINT Standard function for type conversion Function call
STRING_TO_LREAL Standard function for type conversion Function call
STRING_TO_REAL Standard function for type conversion Function call
STRING_TO_UDINT Standard function for type conversion Function call
STRUCT Introduces the specification of a STRUCT data type specification
structure and is followed by a list of
components
StructAlarmId Data type for AlarmId –
StructAlarmId_TO_DINT Standard function for type conversion Function call
StructTaskId Data type for TaskId –

SIMOTION ST Structured Text

304 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

Keyword/identifier Description Rule

TAN Standard numeric function Function call
THEN Introduces subsequent actions if IF statement
condition true
TIME Elementary data type for time Time type
information
TIME_OF_DAY Elementary data type for time of day Time type
TIME_TO_INT Standard function for type conversion Function call
TIME_TO_REAL Standard function for type conversion Function call
TO Introduces end value FOR statement
TOD Shorthand notation for TIME_OF_DAY Time type
TOF OFF delay Function block call
TON ON delay Function block call
TP Pulse Function block call
TRUE Predefined Boolean constant: Logical –
condition true, value not equal to 0
TRUNC Standard numeric function Function call
TYPE Introduces UDT User-defined data type
UDINT Elementary data type for unsigned Numeric data type
double precision integer with value
range 0 to 2**32-1
UDINT_TO_BYTE Standard function for type conversion Function call
UDINT_TO_DINT Standard function for type conversion Function call
UDINT_TO_DWORD Standard function for type conversion Function call
UDINT_TO_INT Standard function for type conversion Function call
UDINT_TO_LREAL Standard function for type conversion Function call
UDINT_TO_REAL Standard function for type conversion Function call
UDINT_TO_SINT Standard function for type conversion Function call
UDINT_TO_STRING Standard function for type conversion Function call
UDINT_TO_UINT Standard function for type conversion Function call
UDINT_TO_USINT Standard function for type conversion Function call
UDINT_TO_WORD Standard function for type conversion Function call
UDINT_VALUE_TO_BOOL Standard function for type conversion Function call
UINT Elementary data type for unsigned Numeric data type
single precision integer with value
range 0 to 2**16-1
UINT_TO_BYTE Standard function for type conversion Function call
UINT_TO_DINT Standard function for type conversion Function call
UINT_TO_DWORD Standard function for type conversion Function call
UINT_TO_INT Standard function for type conversion Function call
UINT_TO_LREAL Standard function for type conversion Function call
UINT_TO_REAL Standard function for type conversion Function call
UINT_TO_SINT Standard function for type conversion Function call
UINT_TO_UDINT Standard function for type conversion Function call
UINT_TO_USINT Standard function for type conversion Function call

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 305
Appendix
A.1 Formal Language Description

Keyword/identifier Description Rule

UINT_TO_WORD Standard function for type conversion Function call
UINT_VALUE_TO_BOOL Standard function for type conversion Function call
UNIT Introduces the UNIT section Unit section
UNTIL Introduces exit condition for REPEAT REPEAT statement
statement
USELIB Introduces the library name –
USEPACKAGE Introduces the package name –
USES Introduces a reference to other units –
USINT Elementary data type for unsigned Numeric data type
short integer with value range 0 to 255
USINT_TO_BYTE Standard function for type conversion Function call
USINT_TO_DINT Standard function for type conversion Function call
USINT_TO_DWORD Standard function for type conversion Function call
USINT_TO_INT Standard function for type conversion Function call
USINT_TO_LREAL Standard function for type conversion Function call
USINT_TO_REAL Standard function for type conversion Function call
USINT_TO_SINT Standard function for type conversion Function call
USINT_TO_UDINT Standard function for type conversion Function call
USINT_TO_UINT Standard function for type conversion Function call
USINT_TO_WORD Standard function for type conversion Function call
USINT_VALUE_TO_BOOL Standard function for type conversion Function call
VAR Introduces a declaration block for local Static variable block
variables
VAR_GLOBAL Introduces a declaration block for unit Unit variables
variables (global variables)
VAR_IN_OUT Introduces a declaration block Parameter block
VAR_INPUT Introduces a declaration block Parameter block
VAR_OUTPUT Introduces a declaration block Parameter block
VAR_TEMP Introduces a declaration block Parameter block
VOID No return value on function call Function
WAITFORCONDITION Introduces the control statement for a WAITFORCONDITION statement
task waiting for a programmable event
WHILE Introduces control statement for loop WHILE statement
execution
WITH Use in conjunction with WAITFORCONDITION statement
WAITFORCONDITION
WORD Elementary data type for word Bit data type
WORD_TO_BOOL Standard function for type conversion Function call
WORD_TO_BYTE Standard function for type conversion Function call
WORD_TO_DINT Standard function for type conversion Function call
WORD_TO_DWORD Standard function for type conversion Function call
WORD_TO_INT Standard function for type conversion Function call
WORD_TO_SINT Standard function for type conversion Function call
WORD_TO_UDINT Standard function for type conversion Function call

SIMOTION ST Structured Text

306 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

Keyword/identifier Description Rule

WORD_TO_UINT Standard function for type conversion Function call
WORD_TO_USINT Standard function for type conversion Function call
WORD_VALUE_TO_LREAL Standard function for type conversion Function call
WORD_VALUE_TO_REAL Standard function for type conversion Function call
XOR Logic operator Basic logic operator

A.1.3 Rules
The following syntax rules of the ST language are subdivided into rules with formatted
notation (lexical rules) and unformatted notation (syntactic rules). Language description
resources describes the differences between syntactic and lexical rules.

A.1.3.1 Identifiers

,GHQWLILHU IRUPDWWHG

/HWWHU /HWWHU

B

/HWWHU 'LJLW

B 8QGHUVFRUH

'LJLW /HWWHU$=D]
8QGHUVFRUH ಺'LJLW

Figure A-3 Identifier

1XPEHU IRUPDWWHG

'LJLW

'LJLW

Figure A-4 Number

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 307
Appendix
A.1 Formal Language Description

A.1.3.2 Notation for constants (literals)

Literals

/LWHUDO IRUPDWWHG

,QWHJHU

)ORDWLQJSRLQWQXPEHU

7LPHOLWHUDO

&KDUDFWHUVWULQJ

Figure A-5 Literal

,QWHJHU IRUPDWWHG


,QWHJHUV 'HFLPDO
GDWDW\SH  GLJLWVWULQJ



%LWGDWDW\SH 
%LQDU\GLJLWVWULQJ

2FWDOGLJLWVWULQJ

2QO\IRUGDWDW\SHV
6,17,17DQG',17
+H[DGHFLPDOGLJLWVWULQJ

Figure A-6 Integer

SIMOTION ST Structured Text

308 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

)ORDWLQJSRLQWQXPEHU IRUPDWWHG



)ORDWLQJSRLQWQXPEHU
GDWDW\SH 

  

'HFLPDOGLJLW  'HFLPDOGLJLW
([SRQHQW
VWULQJ VWULQJ



 $WOHDVWRQHRSWLRQPXVWEHRIIHUHG

Figure A-7 Floating-point number

([SRQHQW IRUPDWWHG

( 

'HFLPDOGLJLWVWULQJ

H 

Figure A-8 Exponent

7LPHOLWHUDO IRUPDWWHG

'DWH

7LPHRIGD\

'DWHDQGWLPH

'XUDWLRQ

Figure A-9 Time literal

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 309
Appendix
A.1 Formal Language Description

&KDUDFWHUVWULQJ IRUPDWWHG

675,1*

 

$SRVWURSKH $SRVWURSKH
LQYHUWHGFRPPD &KDUDFWHUV LQYHUWHGFRPPD

Figure A-10 Character string

SIMOTION ST Structured Text

310 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

&KDUDFWHUV IRUPDWWHG

$6&,,FRGHRID QRQSULQWDEOH FKDUDFWHU

 +H[DGHFLPDOGLJLW +H[DGHFLPDOGLJLW

3ULQWDEOHFKDUDFWHU

$SRVWURSKHLQYHUWHGFRPPD 


'ROODUVLJQ 


/
/LQHIHHG/) $
O

1
&DUULDJH5HWXUQ/LQH)HHG&5/) '$
Q

3
)RUPIHHG)) &
S

5
&DUULDJHUHWXUQ&5 '
U

7
+RUL]RQWDOWDE+7 
W

3ULQWDEOHFKDUDFWHU
 $Q\FKDUDFWHUIURPWKHH[WHQGHG$6&,,FKDUDFWHUVHW $6&,,FRGH
 WR(DQGWR))
 H[FHSW 'ROODUVLJQ  DQG
  DSRVWURSKHLQYHUWHGFRPPD  
+H[DGHFLPDOGLJLWV$)

Figure A-11 Character

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 311
Appendix
A.1 Formal Language Description

Digit string

'HFLPDOGLJLWVWULQJ IRUPDWWHG

'HFLPDOGLJLW

B

8QGHUVFRUH
'HFLPDOGLJLWV

Figure A-12 Decimal digit string

%LQDU\GLJLWVWULQJ IRUPDWWHG

 %LQDU\GLJLW

B

%LQDU\GLJLWV 8QGHUVFRUH

Figure A-13 Binary digit string

2FWDOGLJLWVWULQJ IRUPDWWHG

 2FWDOGLJLW

B

8QGHUVFRUH
2FWDOGLJLWV

Figure A-14 Octal digit string

+H[DGHFLPDOGLJLWVWULQJ IRUPDWWHG

 +H[DGHFLPDOGLJLW

B

+H[DGHFLPDOGLJLWV$) 8QGHUVFRUH

Figure A-15 Hexadecimal digit string

SIMOTION ST Structured Text

312 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

Date and time

'DWH IRUPDWWHG

'$7(
'DWHLQIRUPDWLRQ
'

Figure A-16 Date

'XUDWLRQ IRUPDWWHG

7,0( 'HFLPDOUHSUHVHQWDWLRQ

7 6HTXHQFHUHSUHVHQWDWLRQ B 'HFLPDOUHSUHVHQWDWLRQ

(DFKWLPHXQLW HJKRXUVPLQXWHV PD\EHVSHFLILHGMXVWRQFH

7KHFRUUHFWRUGHUಥGD\VKRXUVPLQXWHVVHFRQGVPLOOLVHFRQGVಥPXVWEHPDLQWDLQHG
9DOXHUDQJHRIWKHDVVRFLDWHGWLPHXQLWVHHVHTXHQFHUHSUHVHQWDWLRQ
7KHYDOXHUDQJHPD\EHH[FHHGHGIRUWKHKLJKHVWYDOXHWLPHXQLW

Figure A-17 Time

7LPHRIGD\ IRUPDWWHG

7,0(B2)B'$<
7LPHRIGD\LQIRUPDWLRQ
72'

Figure A-18 Time

'DWHDQGWLPH IRUPDWWHG

'$7(B$1'B7,0(
'DWHLQIRUPDWLRQ  7LPHRIGD\LQIRUPDWLRQ
'7

Figure A-19 Date and time

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 313
Appendix
A.1 Formal Language Description

'DWHLQIRUPDWLRQ IRUPDWWHG

  

'HFLPDOGLJLWVWULQJ  'HFLPDOGLJLWVWULQJ  'HFLPDOGLJLWVWULQJ

<HDU 0RQWK 'D\

಺ GLJLWV ಺ GLJLWV ಺ GLJLWV

Figure A-20 Date information

7LPHRIGD\SDUDPHWHU IRUPDWWHG

 

'HFLPDOGLJLWVWULQJ  'HFLPDOGLJLWVWULQJ 

+RXU 0LQXWH

 

'HFLPDOGLJLWVWULQJ  'HFLPDOGLJLWVWULQJ

6HFRQG 0LOOLVHFRQG

Figure A-21 Time of day information

SIMOTION ST Structured Text

314 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

6HTXHQFHUHSUHVHQWDWLRQ IRUPDWWHG

'HFLPDOGLJLWVWULQJ G B 'HFLPDOGLJLWVWULQJ K B

'D\V +RXUV>@

'HFLPDOGLJLWVWULQJ P B 'HFLPDOGLJLWVWULQJ V B

0LQXWHV>@ 6HFRQGV>@

'HFLPDOGLJLWVWULQJ PV

0LOOLVHFRQGV>@
$WOHDVWRQHHQWU\LVUHTXLUHG
7KHYDOXHUDQJHPD\EHH[FHHGHGLQWKHKLJKHVWRUGHUVHTXHQFH

Figure A-22 Sequence representation

'HFLPDOUHSUHVHQWDWLRQ IRUPDWWHG

'D\V
'HFLPDOGLJLWVWULQJ  'HFLPDOGLJLWVWULQJ G

KRXUV
'HFLPDOGLJLWVWULQJ  'HFLPDOGLJLWVWULQJ K

0LQXWHV
'HFLPDOGLJLWVWULQJ  'HFLPDOGLJLWVWULQJ P

VHFRQGV
'HFLPDOGLJLWVWULQJ  'HFLPDOGLJLWVWULQJ V

0LOOLVHFRQGV
'HFLPDOGLJLWVWULQJ  'HFLPDOGLJLWVWULQJ PV

7KHHQWU\WRGHFLPDOUHSUHVHQWDWLRQLVRQO\SRVVLEOHIRUWLPHXQLWVWKDWDUHQRW\HWGHILQHG

Figure A-23 Decimal representation

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 315
Appendix
A.1 Formal Language Description

A.1.3.3 Comments
Note the following when inserting comments:
● Nesting of line comments is not allowed.
● Nesting of block comments is not allowed, but you can nest line comments in block
comments.
● Comments are allowed at any position in the unformatted (syntactic) rules.
● Comments are not allowed in formatted (lexical) rules.

&RPPHQW IRUPDWWHG

/LQHFRPPHQW

%ORFNFRPPHQW

Figure A-24 Comments

/LQHFRPPHQW IRUPDWWHG

 3ULQWDEOHFKDUDFWHU &5

&DUULDJH5HWXUQ
(QWHURU5HWXUQNH\

Figure A-25 Line comment

%ORFNFRPPHQW IRUPDWWHG

 &KDUDFWHUV 

Figure A-26 Block comment

SIMOTION ST Structured Text

316 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

A.1.3.4 Sections of the ST source file

3DUWVRIWKH67VRXUFHILOH XQIRUPDWWHG

8QLW [SHU67VRXUFHILOH

,QWHUIDFH [SHU67VRXUFHILOH

,PSOHPHQWDWLRQ [SHU67VRXUFHILOH

8VHUGHILQHGGDWDW\SH [HDFKSHULQWHUIDFHDQGLPSOHPHQWD
WLRQSURJUDPVHFWLRQ

)XQFWLRQ
Q[SHU67VRXUFHILOH

)XQFWLRQEORFN Q[SHU67VRXUFHILOH

3URJUDP Q[SHU67VRXUFHILOH

'HFODUDWLRQEORFN Q[SHU67VRXUFHILOH

6WDWHPHQW Q[SHU67VRXUFHILOH

1RWLFH7KHILJXUHVKRZVRQO\WKHRSWLRQVIRUGHILQLQJVRXUFHILOHVHFWLRQV
7KHKLHUDUFK\RIWKHVHFWLRQVFDQQRWEHVKRZQRQRQHOHYHOUHIHUWRWKHH[SODQDWLRQV
LQWKHWH[WIRUPRUHGHWDLOV

Sections of the ST source file

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 317
Appendix
A.1 Formal Language Description

A.1.3.5 Structures of ST source files

67VRXUFHILOH XQIRUPDWWHG

,PSOHPHQWDWLRQ
8QLWGHILQLWLRQ ,QWHUIDFHVHFWLRQ VHFWLRQ

Figure A-27 ST source file

8QLWGHILQLWLRQ IRUPDWWHG

8QLWLGHQWLILHU 'HYLFHW\SH

81,7 ,GHQWLILHU  ,GHQWLILHU 

,GHQWLFDOWRWKHLGHQWLILHURIWKH67
VRXUFHILOH

Figure A-28 Unit definition

,QWHUIDFHVHFWLRQ XQIRUPDWWHG

,17(5)$&( ,QWHUIDFHVWDWHPHQWV (1'B,17(5)$&(

86(/,%OLEUDU\LGHQWLILHU$6QDPHVSDFH
86(3$&.$*(WHFKQRORJ\SDFNDJHLGHQWLILHU$6QDPHVSDFH
86(6XQLWLGHQWLILHUV
)81&7,21IXQFWLRQLGHQWLILHUV
)81&7,21B%/2&.IXQFWLRQEORFNLGHQWLILHUV
352*5$0SURJUDPLGHQWLILHUV
8VHUGHILQHGGDWDW\SHV 8'7
8QLWYDULDEOHVJOREDOYDULDEOHEORFN
8QLWFRQVWDQWVJOREDOFRQVWDQWEORFN
5HWHQWLYHYDULDEOHEORFN

Figure A-29 Interface section

SIMOTION ST Structured Text

318 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

,PSOHPHQWDWLRQVHFWLRQ XQIRUPDWWHG

,PSOHPHQWDWLRQ
,03/(0(17$7,21 VWDWHPHQWV (1'B,03/(0(17$7,21

86(6XQLWLGHQWLILHUV
8VHUGHILQHGGDWDW\SHV 8'7
8QLWYDULDEOHVJOREDOYDULDEOHEORFN
8QLWFRQVWDQWVJOREDOFRQVWDQWEORFN
5HWHQWLYHYDULDEOHEORFN
)XQFWLRQV
)XQFWLRQEORFNV
([SUHVVLRQV
3URJUDPV

Figure A-30 Implementation section

A.1.3.6 Program organization units (POU)

([SUHVVLRQ XQIRUPDWWHG

([SUHVVLRQLGHQWLILHU

(;35(66,21 ,GHQWLILHU

([SUHVVLRQGHFODUDWLRQ 6WDWHPHQW
VHFWLRQ VHFWLRQ (1'B(;35(66,21

1RWHWKDWDQH[SUHVVLRQRIWKH%22/GDWDW\SHPXVWEHDVVLJQHGWRWKHH[SUHVVLRQ
LGHQWLILHULQWKHVWDWHPHQWVHFWLRQ

Figure A-31 Expression

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 319
Appendix
A.1 Formal Language Description

)XQFWLRQ XQIRUPDWWHG

)XQFWLRQLGHQWLILHU 92,'
)81&7,21 ,GHQWLILHU 
'DWDW\SH

6WDWHPHQW
)&GHFODUDWLRQVHFWLRQ VHFWLRQ (1'B)81&7,21

1RWHIRUIXQFWLRQVZLWKGDWDW\SH QRW92,' 
7KHUHWXUQYDOXHRIWKHIXQFWLRQLGHQWLILHUPXVWEHDVVLJQHGLQWKHVWDWHPHQWVHFWLRQ

Figure A-32 Function (FC)

)XQFWLRQEORFN XQIRUPDWWHG

)XQFWLRQEORFNLGHQWLILHU

)81&7,21B%/2&. ,GHQWLILHU

)%GHFODUDWLRQVHFWLRQ 6WDWHPHQWVHFWLRQ (1'B)81&7,21B%/2&.

Figure A-33 Function block (FB)

3URJUDP XQIRUPDWWHG

3URJUDPLGHQWLILHU

352*5$0 ,GHQWLILHU

3URJUDPGHFODUDWLRQVHFWLRQ 6WDWHPHQWVHFWLRQ (1'B352*5$0

Figure A-34 Program

SIMOTION ST Structured Text

320 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

A.1.3.7 Declaration sections

([SUHVVLRQGHFODUDWLRQVHFWLRQ XQIRUPDWWHG

8VHUGHILQHGGDWDW\SHV 8'7 !

&RQVWDQWEORFN !

)&SDUDPHWHUEORFN ! !

7HPSRUDU\YDULDEOHEORFNLQ)& !

-XPSODEHOGHFODUDWLRQ !

!7KHEORFNLVSHUPLWWHGRQO\DVRI9HUVLRQ9RIWKH6,027,21NHUQHO
!7KLVEORFNPD\DSSHDUPRUHWKDQRQFHLQWKHGHFODUDWLRQVHFWLRQ
!7KLVEORFNPD\DSSHDUMXVWRQFHLQWKHGHFODUDWLRQVHFWLRQ

Figure A-35 Expression declaration section

)&GHFODUDWLRQVHFWLRQ XQIRUPDWWHG

8VHUGHILQHGGDWDW\SHV 8'7 !

&RQVWDQWEORFN !

)&SDUDPHWHUEORFN !

7HPSRUDU\YDULDEOHEORFNLQ)& !

-XPSODEHOGHFODUDWLRQ !

!7KLVEORFNPD\DSSHDUPRUHWKDQRQFHLQWKHGHFODUDWLRQVHFWLRQ
!7KLVEORFNPD\DSSHDUMXVWRQFHLQWKHGHFODUDWLRQVHFWLRQ

Figure A-36 FC declaration section

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 321
Appendix
A.1 Formal Language Description

)%GHFODUDWLRQVHFWLRQ XQIRUPDWWHG

8VHUGHILQHGGDWDW\SHV 8'7 !

&RQVWDQWEORFN !

)%SDUDPHWHUEORFN !

6WDWLFYDULDEOHEORFN !

7HPSRUDU\YDULDEOHEORFNLQ)%SURJUDP !

-XPSODEHOGHFODUDWLRQ !

!7KLVEORFNPD\DSSHDUPRUHWKDQRQFHLQWKHGHFODUDWLRQVHFWLRQ
!7KLVEORFNPD\DSSHDUMXVWRQFHLQWKHGHFODUDWLRQVHFWLRQ

Figure A-37 FB declaration section

3URJUDPGHFODUDWLRQVHFWLRQ XQIRUPDWWHG

8VHUGHILQHGGDWDW\SHV 8'7 !

&RQVWDQWEORFN !

6WDWLFYDULDEOHEORFN !

7HPSRUDU\YDULDEOHEORFNLQ)%SURJUDP !

-XPSODEHOGHFODUDWLRQ !

!7KLVEORFNPD\DSSHDUPRUHWKDQRQFHLQWKHGHFODUDWLRQVHFWLRQ
!7KLVEORFNPD\DSSHDUMXVWRQFHLQWKHGHFODUDWLRQVHFWLRQ

Figure A-38 Program declaration section

SIMOTION ST Structured Text

322 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

A.1.3.8 Structure of the declaration blocks

Constant blocks

&RQVWDQWEORFN XQIRUPDWWHG

9$5&2167$17 &RQVWDQWGHFODUDWLRQ (1'B9$5

Figure A-39 Constant block

8QLWFRQVWDQWVJOREDOFRQVWDQWEORFN XQIRUPDWWHG

9$5B*/2%$/&2167$17 &RQVWDQWGHFODUDWLRQ (1'B9$5

Figure A-40 Unit constants / global constant block

Variable blocks

8QLW9DULDEOHV*OREDO9DULDEOH%ORFN 8QIRUPDWWHG

9DULDEOHGHFODUDWLRQ

9$5B*/2%$/ 6\PEROLF3,DFFHVV (1'B9$5

,QVWDQFH
GHFODUDWLRQ

Figure A-41 Unit variables / global variable block

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 323
Appendix
A.1 Formal Language Description

5HWHQWLYHYDULDEOHEORFN XQIRUPDWWHG

9$5B*/2%$/5(7$,1 9DULDEOHGHFODUDWLRQ (1'B9$5

Figure A-42 Retentive variable block

7HPSRUDU\YDULDEOHEORFNLQ)& XQIRUPDWWHG

9DULDEOHGHFODUDWLRQ
9$5 (1'B9$5

Figure A-43 Temporary variable block in FC

7HPSRUDU\YDULDEOHEORFNLQ)%DQGSURJUDP XQIRUPDWWHG

9$5B7(03 9DULDEOHGHFODUDWLRQ (1'B9$5

Figure A-44 Temporary variable block in the FB/program

6WDWLFYDULDEOHEORFN XQIRUPDWWHG

9DULDEOHGHFODUDWLRQ

9$5 6\PEROLF3,DFFHVV (1'B9$5

,QVWDQFH
GHFODUDWLRQ

Figure A-45 Static variable block

SIMOTION ST Structured Text

324 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

Parameter fields

)%SDUDPHWHUEORFN XQIRUPDWWHG

9$5B,1387 )RUPDOSDUDPHWHU
)RULQSXWSDUDPHWHU
9DULDEOHGHFODUDWLRQ

9$5B287387 (1'B9$5
)RURXWSXWSDUDPHWHU
9DULDEOHGHFODUDWLRQ
9$5B,1B287
)RULQRXWSDUDPHWHU ,QVWDQFHGHFODUDWLRQ

,QLWLDOL]DWLRQQRWSRVVLEOH

7KH9$5B,13879$5B287387DQG9$5B,1B287NH\ZRUGVPD\EHXVHGMXVWRQFHLQWKH
GHFODUDWLRQVHFWLRQ

Figure A-46 FB parameter block

)&SDUDPHWHUEORFN XQIRUPDWWHG )RUPDOSDUDPHWHU

9$5B,1387 9DULDEOHGHFODUDWLRQ
)RULQSXWSDUDPHWHU

(1'B9$5

9DULDEOHGHFODUDWLRQ
9$5B,1B287
)RULQRXWSDUDPHWHU ,QVWDQFHGHFODUDWLRQ

,QLWLDOL]DWLRQQRWSRVVLEOH

7KH9$5B,1387DQG9$5B,1B287NH\ZRUGVPD\EHXVHGMXVWRQFHLQWKHGHFODUDWLRQVHFWLRQ

Figure A-47 FC parameter block

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 325
Appendix
A.1 Formal Language Description

Jump labels

-XPSODEHOGHFODUDWLRQ XQIRUPDWWHG

-XPSODEHO
/$%(/ ,GHQWLILHU  (1'B/$%(/



Figure A-48 Jump label declaration

Declarations

&RQVWDQWGHFODUDWLRQ XQIRUPDWWHG

,GHQWLILHU  'DWDW\SH   ,QLWLDOL]DWLRQ 

,GHQWLILHURIWKH
FRQVWDQWV $55$<
GDWDW\SH

VSHFLILFDWLRQ

Figure A-49 Constant declaration

9DULDEOHGHFODUDWLRQ XQIRUPDWWHG

,GHQWLILHU  'DWDW\SH   ,QLWLDOL]DWLRQ 

,GHQWLILHURIWKHYDULDEOH
RUWKHIRUPDOSDUDPHWHU $55$<GDWD
LQ)%RU)& W\SH
6SHFLILFDWLRQ



Figure A-50 Variable declaration

SIMOTION ST Structured Text

326 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

6\PEROLF3,DFFHVV XQIRUPDWWHG

,QWHJHU
GDWDW\SH

$EVROXWH3,
,GHQWLILHU $7 DFFHVV  

%LWGDWDW\SH

5DQJHRIGHFODUHGGDWDW\SHPXVW
FRUUHVSRQGWRWKHUDQJHRIWKH
DEVROXWHLGHQWLILHU

Figure A-51 Symbolic PI access

,QVWDQFHGHFODUDWLRQ XQIRUPDWWHG

)XQFWLRQEORFN
,GHQWLILHU  
LGHQWLILHU
,QVWDQFHLGHQWLILHU
)%$55$<

VSHFLILFDWLRQ

)XQFWLRQEORFNVPXVWDOUHDG\H[LVW
,QLWLDOL]DWLRQQRWSRVVLEOH

Figure A-52 Instance declaration

)%$55$<VSHFLILFDWLRQ XQIRUPDWWHG

,QGH[VSHFLILFDWLRQ

,QLWLDOL]DWLRQ ,QLWLDOL]DWLRQ
$55$< >  @
H[SUHVVLRQ H[SUHVVLRQ

',17GDWDW\SH ',17GDWDW\SH

)XQFWLRQEORFN
2)
LGHQWLILHU

Figure A-53 FB ARRAY specification

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 327
Appendix
A.1 Formal Language Description

Initialization

,QLWLDOL]DWLRQ XQIRUPDWWHG

&RQVWDQWH[SUHVVLRQ

,QLWLDOL]DWLRQRIHOHPHQWDU\GDWDW\SHV

> $UUD\LQLWLDOL]DWLRQOLVW @

,QLWLDOL]DWLRQRIDUUD\V

 6WUXFWXUHLQLWLDOL]DWLRQOLVW 

,QLWLDOL]DWLRQRILQGLYLGXDOFRPSRQHQWVZLWKLQVWUXFWXUHV

Figure A-54 Initialization

SIMOTION ST Structured Text

328 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

&RQVWDQWH[SUHVVLRQ XQIRUPDWWHG

&RQVWDQW

%DVLFORJLF
RSHUDWRU

&RQVWDQW 5HODWLRQDO &RQVWDQW

H[SUHVVLRQ RSHUDWRU H[SUHVVLRQ

%DVLFDULWKPHWLF
RSHUDWRU

 &RQVWDQWH[SUHVVLRQ
8QDU\PLQXV

127
1HJDWLRQ

'DWDW\SHFRQYHUVLRQIXQFWLRQ

 &RQVWDQW 
H[SUHVVLRQ

52/

525

6+/

 &RQVWDQW  &RQVWDQW 
6+5 H[SUHVVLRQ H[SUHVVLRQ

Figure A-55 Constant expression

$UUD\LQLWLDOL]DWLRQOLVW XQIRUPDWWHG

&RQVWDQWH[SUHVVLRQ

&RQVWDQWH[SUHVVLRQ

'HFLPDOGLJLWVWULQJ  

5HSHDWIDFWRU $UUD\LQLWLDOL]DWLRQOLVW



Figure A-56 Array initialization list

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 329
Appendix
A.1 Formal Language Description

6WUXFWXUHLQLWLDOL]DWLRQOLVW XQIRUPDWWHG

,GHQWLILHU   ,QLWLDOL]DWLRQ

'HVLJQDWLRQRIWKH
FRPSRQHQW



Figure A-57 Structure initialization list

A.1.3.9 Data types

'DWDW\SH XQIRUPDWWHG

(OHPHQWDU\GDWDW\SH

8'7LGHQWLILHU

8VHUGHILQHGGDWDW\SHVಥ8'7

6\VWHPGDWDW\SH

72GDWDW\SH

Figure A-58 Data type

SIMOTION ST Structured Text

330 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

Elementary data types

(OHPHQWDU\GDWDW\SH XQIRUPDWWHG

%LWGDWDW\SH

1XPHULFGDWDW\SH

7LPHW\SH

6WULQJGDWDW\SH

Figure A-59 Elementary data type

%LWGDWDW\SH XQIRUPDWWHG

%22/ %LW

%<7( %\WH

:25' :RUG

':25' 'RXEOHZRUG

Figure A-60 Bit data type

1XPHULFGDWDW\SH XQIRUPDWWHG

,QWHJHUGDWDW\SH

)ORDWLQJSRLQWQXPEHUGDWDW\SH

Figure A-61 Numeric data type

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 331
Appendix
A.1 Formal Language Description

,QWHJHUGDWDW\SH XQIRUPDWWHG

6,17 6KRUWLQWHJHU

,17 ,QWHJHU

',17 'RXEOHSUHFLVLRQLQWHJHU

86,17 8QVLJQHGVKRUWLQWHJHU

8,17 8QVLJQHGLQWHJHU

8',17 8QVLJQHGLQWHJHUZLWKGRXEOHSUHFLVLRQ

Figure A-62 Integer data type

)ORDWLQJSRLQWQXPEHUGDWDW\SH XQIRUPDWWHG

5($/ )ORDWLQJSRLQWQXPEHU

/5($/ /RQJIORDWLQJSRLQWQXPEHU

Figure A-63 Floating-point number data type

7LPHW\SH XQIRUPDWWHG

7,0( 7LPH

'$7( 'DWH

7,0(B2)B'$<
7LPHRIGD\
72'

'$7(B$1'B7,0(
'DWHDQGWLPH
'7

Figure A-64 Time data type

SIMOTION ST Structured Text

332 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

6WULQJGDWDW\SH XQIRUPDWWHG

675,1*

> &RQVWDQWH[SUHVVLRQ @

&KDUDFWHUVWULQJOHQJWK
,17GDWDW\SHYDOXH
'HIDXOW

Figure A-65 String data type

User-defined data types

8VHUGHILQHGGDWDW\SHVಥ8'7 XQIRUPDWWHG

7<3( ,GHQWLILHU 

8'7LGHQWLILHU

'DWDW\SH

$55$<
GDWDW\SH   ,QLWLDOL]DWLRQ  (1'B7<3(
VSHFLILFDWLRQ

(QXPHUDWRU
಺GDWDW\SH
VSHFLILFDWLRQ

6758&7
GDWDW\SH
VSHFLILFDWLRQ

Figure A-66 User-defined data type

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 333
Appendix
A.1 Formal Language Description

$55$<GDWDW\SHVSHFLILFDWLRQ XQIRUPDWWHG

,QGH[VSHFLILFDWLRQ

$55$< > &RQVWDQWH[SUHVVLRQ  &RQVWDQWH[SUHVVLRQ @

',17GDWDW\SH ',17GDWDW\SH

2) 'DWDW\SH

Figure A-67 ARRAY data type specification

6758&7GDWDW\SHVSHFLILFDWLRQ XQIRUPDWWHG

&RPSRQHQWV
6758&7 GHFODUDWLRQ (1'B6758&7 

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B6758&7NH\ZRUGZLWKDVHPLFRORQ

Figure A-68 STRUCT data type specification

&RPSRQHQWGHFODUDWLRQ XQIRUPDWWHG

,GHQWLILHU  'DWDW\SH   ,QLWLDOL]DWLRQ 

,GHQWLILHURIWKH
FRPSRQHQW
$55$<
GDWDW\SH
VSHFLILFDWLRQ

Figure A-69 Component declaration

(QXPHUDWRUGDWDW\SHVSHFLILFDWLRQ XQIRUPDWWHG

(QXPHUDWRUHOHPHQW

 ,GHQWLILHU 



Figure A-70 Enumerator data type specification

SIMOTION ST Structured Text

334 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

A.1.3.10 Statement section

6WDWHPHQWVHFWLRQ XQIRUPDWWHG

-XPSODEHO

,GHQWLILHU 

6WDWHPHQW 

Figure A-71 Statement section

6WDWHPHQW XQIRUPDWWHG

9DOXHDVVLJQPHQWV

6XEURXWLQHH[HFXWLRQ

&RQWUROVWDWHPHQW

Figure A-72 Statement

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 335
Appendix
A.1 Formal Language Description

A.1.3.11 Value assignments and operations

Value assignment and expression

9DOXHDVVLJQPHQW XQIRUPDWWHG

9DULDEOHRIWKH
HOHPHQWDU\GDWDW\SH

9DULDEOHRIWKH
HQXPHUDWRUGDWDW\SH

$UUD\YDULDEOH

6WUXFWXUHGYDULDEOH

$EVROXWH3,DFFHVV   ([SUHVVLRQ

2XWSXWVRQO\

([WHUQDOWDJ

$FFHVVWR)%LQSXWSDUDPHWHUV !

'LUHFWELWDFFHVV !

!2QO\IRUDFWLYDWHG3HUPLWODQJXDJHH[WHQVLRQVFRPSLOHURSWLRQ

Figure A-73 Value assignments

SIMOTION ST Structured Text

336 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

([SUHVVLRQ XQIRUPDWWHG

2SHUDQG

%DVLF
ORJLFRSHUDWRU

([SUHVVLRQ 5HODWLRQDORSHUDWRU ([SUHVVLRQ

%DVLFDULWKPHWLF
RSHUDWRU

3RZHU ([SRQHQW
([SUHVVLRQ  ([SUHVVLRQ

 ([SUHVVLRQ
8QDU\PLQXV
127
1HJDWLRQ

 ([SUHVVLRQ 

Figure A-74 Expression

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 337
Appendix
A.1 Formal Language Description

Operands

2SHUDQG XQIRUPDWWHG

9DULDEOHRIWKHHOHPHQWDU\GDWDW\SH

9DULDEOHRIWKHHQXPHUDWRUGDWDW\SH

$UUD\YDULDEOH

6WUXFWXUHGYDULDEOH

$EVROXWH3,DFFHVV

,QSXWVDQGRXWSXWV

&RQVWDQW

)&FDOO

$FFHVVWR)%RXWSXWSDUDPHWHUV

([WHUQDOWDJ

$FFHVVWR)%LQSXWSDUDPHWHUV !

'LUHFWELWDFFHVV !

!2QO\IRUDFWLYDWHG3HUPLWODQJXDJHH[WHQVLRQVFRPSLOHURSWLRQ

Figure A-75 Operand

6WUXFWXUHGYDULDEOH XQIRUPDWWHG
6WDUWRILGHQWLILHULVYDULDEOHQDPHRU
SDUDPHWHUQDPHFRPSRQHQWQDPHDIWHUWKHGRW

,GHQWLILHU

6LPSOHDUUD\



Figure A-76 Structured variable

SIMOTION ST Structured Text

338 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

$EVROXWH3,$FFHVV IRUPDWWHG

%22/
; 1XPEHU  1XPEHU
 
,QSXW
%<7(
, % 1XPPHU


:25'
4 : 1XPEHU
2XWSXW 

':25'
' 1XPEHU


Figure A-77 Absolute PI access

&RQVWDQW XQIRUPDWWHG

/LWHUDO

,GHQWLILHURIWKHFRQVWDQWV

(QXPHUDWRUYDOXH

Figure A-78 Constant

(QXPHUDWRUYDOXH IRUPDWWHG

(QXPHUDWRUHOHPHQW

8'7LGHQWLILHU 

(QXPHUDWRUGDWDW\SH

Figure A-79 Enumerator value

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 339
Appendix
A.1 Formal Language Description

([WHUQDOYDULDEOH XQIRUPDWWHG

6\VWHPYDULDEOHRUFRQILJXUDWLRQGDWDLWHP
RIWKHGHYLFH

6\VWHPYDULDEOHRUFRQILJXUDWLRQGDWDLWHP
RIDWHFKQRORJ\REMHFW

,2YDULDEOH

*OREDOGHYLFHYDULDEOH

Figure A-80 External tag

$FFHVVWR)%RXWSXWSDUDPHWHU IRUPDWWHG

,GHQWLILHURIWKH
,GHQWLILHURIWKH)%LQVWDQFH 
RXWSXWSDUDPHWHU

Figure A-81 Access to FB output parameters

$FFHVVWR)%LQSXWSDUDPHWHUV IRUPDWWHG
2QO\IRUDFWLYDWHG3HUPLWODQJXDJHH[WHQVLRQVFRPSLOHURSWLRQ

,GHQWLILHURIWKH
,GHQWLILHURIWKH)%LQVWDQFH 
LQSXWSDUDPHWHUV

Figure A-82 Access to FB input parameters

SIMOTION ST Structured Text

340 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

'LUHFWELWDFFHVV IRUPDWWHG
2QO\IRUDFWLYDWHG3HUPLWODQJXDJHH[WHQVLRQVFRPSLOHURSWLRQ

6LPSOHYDULDEOH

$UUD\YDULDEOH

6WUXFWXUHGYDULDEOH

([WHUQDOWDJ  &RQVWDQW

'DWDW\SH$1<B,17
$FFHVVWR)%RXWSXWSDUDPHWHUV

$FFHVVWR)%LQSXWSDUDPHWHUV

3HUPLWWHGGDWDW\SHV
HDFK%<7(:25'':25'

Figure A-83 Bit access

Operators

%DVLFORJLFDORSHUDWRU XQIRUPDWWHG

$1'  ;25 25

Figure A-84 Basic logic operator

$ULWKPHWLFRSHUDWRU XQIRUPDWWHG

%DVLFDULWKPHWLFRSHUDWRU

Figure A-85 Arithmetic operator

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 341
Appendix
A.1 Formal Language Description

%DVLFDULWKPHWLFRSHUDWRU XQIRUPDWWHG

  02'  

Figure A-86 Basic arithmetic operator

5HODWLRQDORSHUDWRU XQIRUPDWWHG

 !   !   !

Figure A-87 Relational operators

SIMOTION ST Structured Text

342 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

A.1.3.12 Call of functions and function block calls

)%FDOO XQIRUPDWWHG

,GHQWLILHU

,QVWDQFHQDPH

,GHQWLILHU > ([SUHVVLRQ @

,QVWDQFHQDPH ,QGH[
',17GDWDW\SH

 )%SDUDPHWHU 

Figure A-88 FB call

)&FDOO XQIRUPDWWHG

6\VWHPIXQFWLRQLGHQWLILHU

72IXQFWLRQLGHQWLILHU  )&SDUDPHWHU 

)XQFWLRQLGHQWLILHU

Figure A-89 FC call

)%SDUDPHWHU XQIRUPDWWHG

,QSXWDVVLJQPHQW

,QRXWDVVLJQPHQW

2XWSXWDVVLJQPHQW



Figure A-90 FB parameter

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 343
Appendix
A.1 Formal Language Description

)&SDUDPHWHU XQIRUPDWWHG

([SUHVVLRQ
&DOOLQVKRUWIRUP



,QSXWDVVLJQPHQW

,QRXWDVVLJQPHQW



Figure A-91 FC parameter

,QSXWDVVLJQPHQW XQIRUPDWWHG

)RUPDOSDUDPHWHU $FWXDOSDUDPHWHU

,GHQWLILHU   ([SUHVVLRQ

,GHQWLILHURIWKH
LQSXWSDUDPHWHU

Figure A-92 Input assignment

,QRXWDVVLJQPHQW XQIRUPDWWHG

)RUPDOSDUDPHWHU $FWXDOSDUDPHWHU

,GHQWLILHU   9DULDEOHLGHQWLILHU

'HVLJQDWLRQRIWKH 6LPSOHYDULDEOH
LQRXWSDUDPHWHU

Figure A-93 In/out assignment

SIMOTION ST Structured Text

344 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

2XWSXWDVVLJQPHQW XQIRUPDWWHG

)RUPDOSDUDPHWHU $FWXDOSDUDPHWHU

,GHQWLILHU ! 9DULDEOHLGHQWLILHU

,GHQWLILHURIWKH 6LPSOHYDULDEOH
LQRXWSDUDPHWHU

Figure A-94 Output assignment

A.1.3.13 Control statements

Branches

,)VWDWHPHQW XQIRUPDWWHG

,) ([SUHVVLRQ 7+(1 6WDWHPHQWVHFWLRQ

&RQGLWLRQRIGDWDW\SH%22/

(/6,) ([SUHVVLRQ 7+(1 6WDWHPHQWVHFWLRQ

&RQGLWLRQRIGDWDW\SH%22/

(/6( 6WDWHPHQWVHFWLRQ (1'B,) 

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B,)NH\ZRUGZLWKDVHPLFRORQ

Figure A-95 IF statement

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 345
Appendix
A.1 Formal Language Description

&$6(VWDWHPHQW XQIRUPDWWHG

9DULDEOH

(QXPHUDWRUGDWDW\SH

&$6( ([SUHVVLRQ 2)

'DWDW\SH$1<B,17

9DOXHOLVW  6WDWHPHQWVHFWLRQ

(/6( 6WDWHPHQWVHFWLRQ (1'B&$6( 

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B&$6(NH\ZRUGZLWKDVHPLFRORQ

Figure A-96 CASE statement

9DOXHOLVW XQIRUPDWWHG

&RQVWDQW

9DOXH

&RQVWDQW  &RQVWDQW

9DOXH 9DOXH
9DOXH 9DOXH



Figure A-97 Value list

SIMOTION ST Structured Text

346 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

Repetition statements and jump statements

5HSHWLWLRQVWDWHPHQWDQGMXPSVWDWHPHQW XQIRUPDWWHG

)25VWDWHPHQW

:+,/(VWDWHPHQW

5(3($7VWDWHPHQW

(;,7VWDWHPHQW

5(7851VWDWHPHQW

:$,7)25&21',7,21VWDWHPHQW

*272VWDWHPHQW

Figure A-98 Repetition statement and jump statements

)25VWDWHPHQW XQIRUPDWWHG

9DULDEOHLGHQWLILHU
)25   ([SUHVVLRQ

6WDUWYDOXH
6LPSOHYDULDEOHGDWDW\SH
6,1786,17,178,17',17

72 ([SUHVVLRQ %< ([SUHVVLRQ

(QGYDOXH ,QFUHPHQW

'2 6WDWHPHQWVHFWLRQ (1'B)25 

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B)25NH\ZRUGZLWKDVHPLFRORQ

Figure A-99 FOR statement

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 347
Appendix
A.1 Formal Language Description

:+,/(VWDWHPHQW XQIRUPDWWHG

:+,/( ([SUHVVLRQ '2

&RQGLWLRQRIGDWDW\SH%22/

6WDWHPHQWVHFWLRQ (1'B:+,/( 

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B:+,/(NH\ZRUGZLWKDVHPLFRORQ

Figure A-100 WHILE statement

5(3($7VWDWHPHQW XQIRUPDWWHG

5(3($7 6WDWHPHQWVHFWLRQ 817,/

([SUHVVLRQ (1'B5(3($7 

&RQGLWLRQRIGDWDW\SH%22/

'RQRWIRUJHWWRWHUPLQDWHWKH(1'B5(3($7NH\ZRUGZLWKDVHPLFRORQ

Figure A-101 REPEAT statement

(;,7VWDWHPHQW XQIRUPDWWHG

(;,7 

Figure A-102 EXIT statement

5(7851VWDWHPHQW XQIRUPDWWHG

5(7851 

Figure A-103 RETURN statement

SIMOTION ST Structured Text

348 Programming and Operating Manual, 08/2008
 Appendix
A.1 Formal Language Description

:$,7)25&21',7,21VWDWHPHQW XQIRUPDWWHG

:$,7)25&21',7,21

([SUHVVLRQLGHQWLILHU )&SDUDPHWHU
&RQGLWLRQ 7KHFDOORIDQH[SUHVVLRQZLWKSDUDPHWHUVLV
1DPHRIDFRQVWUXFWGHFODUHGZLWK SHUPLWWHGRQO\DVRI9HUVLRQ9RIWKH
(;35(66,21 6,027,21NHUQHO

(GJHHYDOXDWLRQ
:,7+ ([SUHVVLRQ '2
%22/GDWDW\SH
758(5LVLQJHGJHRIWKHFRQGLWLRQLVHYDOXDWHG
)$/6(&RQGLWLRQLVHYDOXDWHGVWDWLFDOO\ GHIDXOWVHWWLQJ ಻

6WDWHPHQWVHFWLRQ (1'B:$,7)25&21',7,21 

'RQRWIRUJHWWRWHUPLQDWHWKH
(1'B:$,7)25&21',7,21NH\ZRUGZLWKDVHPLFRORQ

Figure A-104 WAITFORCONDITION statement

*272VWDWHPHQW

*272 -XPSODEHO 

-XPSODEHOGHILQHGLQDVWDWHPHQWDQGRSWLRQDOO\
LQWKHMXPSODEHOGHFODUDWLRQ /$%(/ 

Figure A-105 GOTO statement

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 349
Appendix
A.2 Compiler Error Messages and Remedies

A.2 Compiler Error Messages and Remedies

This section provides an overview of the compiler error messages and their correction.

A.2.1 File access errors

Table A-9 File access errors

Error Description
1000 A read/write error has occurred on file access.
1001 Unable to load the file with the plain text error messages; cannot output error message texts.
Please refer to the online help using the error number!
1002 The created code could not be stored. Please close some windows and recompile!
1003 A read/write error has occurred on opening the file. Please close the application and try again!
1100 The option for stating a preprocessor definition contains an invalid identifier as the defined token.
The correct syntax of the call option is: -D identifier[=[text]]
Examples:
• -D myident // Definition of myident; this can be queried using #ifdef.
• -D myident= // myident is defined as empty character string
• -D "myident=This is a text" // myident is defined as character string 'This is a text'. The
quotation marks only have to be used if the replacement text contains a blank.

A.2.2 Scanner errors

Table A-10 Scanner errors (2001 – 2002)

Error Description
2001 The specified character is illegal.
2002 The specified identifier contains illegal characters or combinations of characters. According to
IEC 61131, an identifier must start with a letter or an underscore. Any number of letters, digits, or
underscores may follow, but no more than one underscore in a row.

SIMOTION ST Structured Text

350 Programming and Operating Manual, 08/2008
 Appendix
A.2 Compiler Error Messages and Remedies

A.2.3 Declaration errors in POU

Table A-11 Declaration errors in POU (3002 – 3027)

Error Description
3002 Keyword "IMPLEMENTATION" to identify the code section of the load unit is expected.
3003 The specified declaration block is not permitted in this context.
3004 The VAR, VAR_INPUT, VAR_OUTPUT, VAR_IN_OUT, VAR CONSTANT variable declaration blocks are
permitted just once for each POU.
Up to Version V3.1 of the SIMOTION kernel, the VAR_GLOBAL, VAR_GLOBAL CONSTANT, VAR_GLOBAL
RETAIN declaration blocks are permitted just once in the interface or implementation section.
3005 TASK statement: The task link has already been made in the source file for the specified task. Further task
linking not possible.
3006 Incorrect stack size for task specified. Only positive integers are permitted.
3007 The specified identifier must be a task identifier; see task configuration.
3008 The specified identifier must be a program identifier. The declaration is made in the statement PROGRAM xx
... END_PROGRAM.
3009 The EXPRESSION keyword must be followed by an identifier. The declaration is made in the statement
EXPRESSION xx ... END_EXPRESSION.
3010 The specified identifier is not an EXPRESSION identifier. Check whether the declaration was made using the
statement EXPRESSION xx ... END_EXPRESSION.
3011 The TASK statement is not permitted in the unit. Use the task configuration in the Workbench.
3012 The specified identifier has already been declared at another position. It cannot be used again as a function
identifier.
3013 The specified identifier has already been declared at another position. It cannot be used again as a function
block identifier.
3014 The UNIT statement is expected. The following forms are permissible:
• UNIT myunit;
• UNIT myunit : dvtype;
The UNIT statement is only required when compiling at the ASCII file level. It is optional when the compiler is
called from the Workbench.
3015 The source file is not ended with END_IMPLEMENTATION. Observe the structure for a source file!
3016 No further statements may be specified after keyword END_IMPLEMENTATION.
3017 The task declaration is not ended with END_TASK. Observe the structure for a source file!
3018 The POU declaration is not ended with END_FUNCTION, END_FUNCTION_BLOCK, or END_PROGRAM.
Observe the structure for a source file!
3019 A POU starting with keywords FUNCTION, FUNCTION_BLOCK, or PROGRAM is expected.
3020 The task linking statement is expected. Configuration: TASK tname ... END_TASK;
3022 The keyword INTERFACE is expected. See the structure for a source file.
3023 Keyword INTERFACE or IMPLEMENTATION is expected. See the structure for a source file.
3024 Syntax error in TASK statement. Correct structure: TASK tname ... END_TASK;
3025 The specified identifier has already been declared at another position. It cannot be used again as a program
identifier.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 351
Appendix
A.2 Compiler Error Messages and Remedies

Error Description
3026 The WAITFORCONDITION statement cannot be used recursively. An attempt was made to use a
WAITFORCONDITION statement a second time within a WAITFORCONDITION statement. This is not
possible.
3027 An attempt was made to insert a WAITFORCONDITION statement within an EXPRESSION ...
END_EXPRESSION block. This is not possible. The WAITFORCONDITION statement cannot be used within
an expression.

A.2.4 Declaration errors in type declaration

Table A-12 Declaration errors in type declarations (4001 - 4051)

Error Description
4001 The specified identifier is a standard function identifier that cannot be overwritten. Choose a
different identifier.
4002 The specified identifier has already been used. Use as a type identifier is not possible. Choose a
different identifier.
4003 The specified identifier has already been used. Use as a constant identifier is not possible.
Choose a different identifier.
4004 The specified initialization value has an incorrect format. Choose the initialization value that
corresponds to the data type declaration.
4005 Syntax error in type declaration.
4006 Syntax error in the structure element specification in the structure declaration.
4007 Syntax error in declaration of an ARRAY data type.
4008 Syntax error in the identifier list specification. The identifiers must be separated by commas.
4009 The specified constant identifier has been assigned different values. This occurs when
enumeration data types are declared. Identical enumeration elements in different enumeration
data types must be located in the same position in the type declaration.
4010 The specified type identifier is not exported from the source file, although the POU in which it is
used, is exported. Use a different data type or declare the data type in the implementation
section.
4011 A constant declaration requires the specification of an initialization value. Example: x : DINT := 5;
4012 The specified data type must be declared outside the POU. For VAR_INPUT, VAR_OUTPUT,
and VAR_IN_OUT, the type identifiers must not be declared locally in the POU, as they must also
be known outside the POU for parameter transfer purposes.
4013 The specified value is used several times in the enumeration data type. The values in the
enumeration data type must differ, however.
4050 The data type or variable declaration creates a data type that is larger than the specified
maximum permissible data size.
4051 The variable declaration requires a memory area that is larger than the specified maximum
permissible memory size.

SIMOTION ST Structured Text

352 Programming and Operating Manual, 08/2008
 Appendix
A.2 Compiler Error Messages and Remedies

A.2.5 Declaration errors in variable declarations

Table A-13 Declaration errors in variable declarations (5001 – 5016, 5100 – 5112, 5500 – 5509)

Error Description
5001 The specified constant value causes the value range to be exceeded and cannot be converted to the requested
type.
5002 The specified identifier has already been used. Use as a variable identifier is not possible. Choose a different
identifier.
5003 Syntax error in variable declaration.
5004 The specification of a data type is expected (simple or derived data type).
5005 The specified constant value has the wrong data type or causes the value range to be exceeded.
5006 Check the number of initialization values for array initialization.
5007 Syntax error in the specification of the time and date literals.
5008 A function block instance cannot be created at the specified position. For example, FB instances cannot be
created in functions. In addition, output parameters (VAR_OUTPUT) of function blocks cannot be FB instances.
5009 The data type specified in the declaration cannot be applied to the variable with absolute address. An integer or
bit data type with matching bit width must be used.
5010 An attempt was made to assign a memory address to a variable. This is not possible at the specified position.
Use this assignment only within the VAR_GLOBAL declaration of a unit or within the VAR declaration of a
PROGRAM.
5012 The specified variables cannot be preassigned an initialization value.
5014 Incorrect initialization of a data structure. The initialization value for a component was specified more than once.
5016 The initialization of variables and data types with technology objects defined in the project is not possible.
Technology objects are themselves variables and so cannot be used for the initialization.
5100 The specified variables cannot be preassigned an initialization value.
5110 Special characters can be specified via $... in the following way: $$, $', $L, $N, $P, $R, $T. Moreover, the
numeric value of a character can be specified via $xx, whereby xx stands for the two-digit hexadecimal
specification of the character code.
5111 The special character can only be specified via $... . This affects $L, $N, $P, $R, $T
5112 Multi-line character string constants are not permitted. To produce a new line in the output, use the appropriate
special character in the character string, e.g. $N, $R$L.
5500 The specified jump label identifier was already defined. Choose a different name.
5501 The specified jump label identifier has not been defined. Include this identifier in the LABEL declaration.
5502 The jump label identifier has been assigned more than once. However, each jump label can only be used once
as a label.
5503 The jump label is specified as a jump destination, but the associated label is missing.
5504 No jumps are possible in subordinate control structures (e.g. WHILE loops). The specified jump label cannot be
used at this position.
5505 No jumps are possible in subordinate control structures (e.g. WHILE loops). The specified jump destination
cannot be reached.
5506 No jumps are possible in WAITFORCONDITION blocks. The specified jump label cannot be used at this
position.
5507 No jumps are possible in WAITFORCONDITION blocks. The specified jump destination cannot be reached.
5509 Jump labels cannot be used within a CASE statement. The syntax does not allow any differentiation between a
jump label and the value list of the CASE statement.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 353
Appendix
A.2 Compiler Error Messages and Remedies

A.2.6 Errors in expression

Table A-14 Errors in the expression (6001 - 6140)

Error Description
6001 Syntax error: A statement terminated with a semicolon is expected,
e.g. a := b*c;
6002 Syntax error: An expression is expected, e.g. x < y .
6003 The specified identifier is no variable identifier. You must specify a variable identifier. Check whether the
indicated identifier is covered.
Up to and including V4.0, access to global device identifiers was possible within a program or function block of
the same name despite warning 16021.
6004 The index for array access must be the DINT data type. Perform a suitable type conversion or use another
expression.
6005 Type conflict in expression. One of the operands cannot be converted to the data type of the calculation, or the
result assignment produces a type conflict.
6006 The specified variable cannot be accessed. Therefore it cannot be used in the expression. Possible causes:
• Variable cannot be read.
• Attempt to access a local variable of a function or function block from outside.
6007 Cannot write specified variable. A value assignment is not possible.
6008 The specified function does not supply a return value. An application in the expression is therefore not possible
(function declared with a return value of VOID).
6009 The specified identifier does not refer to a function or a function block instance. Therefore it cannot be used as
function identifier.
6010 The specified identifier is not included as an input parameter (VAR_INPUT) or in/out parameter (VAR_IN_OUT)
in the declaration of the POU (function or function block). It cannot be used in the POU call.
6011 The number of function arguments in the call differs from the declaration, or the call parameters required are
missing in the call.
6012 RETURN is not permitted syntactically at this position. RETURN may only be used in functions.
6013 EXIT is not permitted syntactically at this position. EXIT can only be used within FOR, WHILE, and REPEAT.
6014 The specified index value is outside the array limits. Only index values that match the array declaration are
permissible.
6015 The specified task control command cannot be applied to the task. It is not allowed for this type of task.
6016 The specified task is deactivated in the execution system. It must be enabled before it can be used.
6017 Syntax error on specifying programs within a task. The programs must be listed by name and separated by
commas.
6018 The specified identifier does not refer to a PROGRAM. Therefore it cannot be used as a program identifier.
6019 Multiple assignment of program to task. Only one assignment is possible.
6020 Syntax error on specifying directly displayed variables. Inputs must have the syntax %Ix.y and outputs the
syntax %Qx.y.
6021 The specified byte offset of the directly displayed variables lies outside the permissible address space.
6022 The specified byte offset of the directly displayed variables lies outside the permissible address space. Values 0
to 7 are permissible.
6023 The return value of the function was not assigned. An assignment is however imperative.
6024 A variable with the specified identifier is not included in the task start information.

SIMOTION ST Structured Text

354 Programming and Operating Manual, 08/2008
 Appendix
A.2 Compiler Error Messages and Remedies

Error Description
6025 The condition variable and condition values of a CASE statement must be of the data type SINT, INT, DINT,
USINT, UINT or UDINT. It must be possible to implicitly convert the condition values to the data type of the
condition variables.
6026 The specified message identifier is not contained in the message configuration. Switch to the message
configuration and add the identifier.
6027 System variable access is only possible directly by means of a technology object reference. Access by means of
a structure or array is not possible. Create a local variable of type TO and assign the TO reference to this
variable. You can then access the required system variable by means of this local TO variable.
6028 Type conflict in expression at specified operation. One of the operands cannot be converted to the data type of
the calculation, or the result assignment produces a type conflict. The specified data type in the expression is
expected.
6029 The specified function parameter does not have a default value, so it is imperative to specify a value when the
function is called.
6030 An attempt was made to transfer an expression to an in/out parameter (VAR_IN_OUT). This is not possible.
User variables must be specified as in/out parameters.
6031 An attempt was made to transfer a system variable (TO, I/O direct access) to an in/out parameter
(VAR_IN_OUT). This is not possible. User variables must be specified as in/out parameters.
6032 An attempt was made to transfer a variable in the process image to an in/out parameter (VAR_IN_OUT). This is
not possible. User variables must be specified as in/out parameters.
6033 An attempt was made to transfer a variable with a non-matching data type to an in/out parameter
(VAR_IN_OUT). However, an Implicit type conversion is not possible. User variables with the correct data type
must be specified as in/out parameters.
6034 An attempt was made to transfer a read only variable to an in/out parameter (VAR_IN_OUT). This is not
possible. In/out parameters must be read/write.
6035 An attempt was made to transfer a constant to an in/out parameter (VAR_IN_OUT). This is not possible. In/out
parameters must be user variables.
6036 An operation is applied to a constant. The value of the constant is outside the definition range for the function.
Examples are:
• Application of SQRT to a negative number.
• Use of logarithmic functions on a number <= 0.
• Use of ASIN or ACOS on a number outside the interval [0..1]
6037 An attempt was made to divide a constant by zero. This operation is not permitted.
6038 The specified function parameter occurs more than once in the argument list.
6039 The specified POU (function or function block) cannot be used. Possible causes:
• The definition of the POU in the implementation section is missing. Only the prototype was specified in the
interface section.
• The POU is fully defined only after its use (e.g. call, instance declaration). If necessary, move this POU in
the program source before the POU in which it is used.
• An instance of the function block cannot be declared as unit variable in the same program source in which
this function block is defined.
6040 Only simple variables may be used as semaphores; indexing is not possible.
6041 The message function requires an auxiliary value of the specified data type. Type conversion is not possible.
6042 The message function requires that you specify a message number. The specified message number is invalid.
6050 Type conflict in expression at specified operation/variable. One of the operands cannot be converted to the type
of the calculation, or the result assignment produces a type conflict. A conversion between source file type and
target type is not possible.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 355
Appendix
A.2 Compiler Error Messages and Remedies

Error Description
6051 The expression contains a type conflict for the specified operation. One of the operands cannot be converted to
the data type of the other operand to perform the calculation, or the operand data types are not permitted for this
operation.
6052 Type conflict in expression. The specified data type cannot be used for the operation (see marshalling
functions).
6053 The expression contains a type conflict for the specified operation. This operation is not permissible on the
specified data type.
6054 Type conflict in expression. The specified variable cannot be used as indexed array variable.
6060 At the function call, there is a mixture of assignments of function arguments and setting parameters. Use one
form of the function call. Example:
• f (x, y); or
• f (in1 := x, in2 := y);
6061 The specified parameter of the function or the function block is an in/out parameter. Consequently, a variable
must be assigned when the POU is called.
6062 The specified identifier cannot be used as a function argument. Only variables from the declaration blocks
VAR_INPUT and VAR_IN_OUT are permitted.
6070 Access to configuration data is only possible for variables that have been specified completely. Append the
name according to the configuration data for the selected technology object.
6080 The specified variable is no input or output variable that can be directly accessed. Such a variable must be
declared in the I/O container of the respective device; it must have the syntax PI* or PQ*.
6100 The specified construct can only be compiled if the device type is set. Add the device type to the unit statement
or set the device type in the program container.
6110 The specified construct cannot be used in libraries.
6111 The specified construct cannot be used in libraries.
6112 The specified construct cannot be used in libraries.
6113 Access to technology objects and devices is not allowed in libraries.
6130 The specification of an interval is not permissible for the data type indicated in the CASE statement.
6140 The specification of a constant in ENUM_TO_DINT requires specifying the data type in the form of
enum_type#value.
6150 The specified bit offset lies outside the valid range for the specified data type.
6200 Only for "Permit language extensions" compiler option (-C lang_ext):
The called PROGRAM contains instance data (VAR … END_VAR declaration block) stored in the user memory
of the assigned task. This means a call of the PROGRAM from another POU is not possible. Compile the source
file with the "Create program instance data only once" compiler option (-C prog_once) or remove the instance
data.
6201 Only for "Permit language extensions" compiler option (-C lang_ext):
The call of a PROGRAM is not supported in functions. Such calls can be made only in function blocks or
another PROGRAM.

SIMOTION ST Structured Text

356 Programming and Operating Manual, 08/2008
 Appendix
A.2 Compiler Error Messages and Remedies

A.2.7 Syntax errors, errors in expression

Table A-15 Syntax errors, errors in the expression (7000 - 7014)

Error Description
7000 A syntax error has occurred. Possible causes:
• Incorrectly ended control structures (e.g. END_IF missing)
• Statements not terminated with ;
• Missing parentheses
7001 The specified identifier does not refer to a constant. Please enter one constant per value or
identifier.
7002 A signed integer is expected. The integer can be of data type SINT, INT, or DINT.
7003 When specifying the interval, the initial value must be less than or equal to the end value. This
applies to the declaration of arrays and the specification of the interval in CASE selection
conditions.
7004 An initialization value is expected. The value must be a constant. Constants can be assigned as
follows:
• Directly per value
• Symbolically via a preceding constant declaration
• As an expression containing constants only
7009 An expression that supplies data type BOOL is expected as condition for WHILE, REPEAT, and
IF. This can be specified as a variable of data type BOOL or via a comparison expression. You
can also specify a function with a return value of data type BOOL.
7010 A syntax error has occurred. Possible causes:
• Incorrectly terminated control structures (e.g. END_IF missing)
• Statements not terminated with ;
• Missing parentheses
7011 A syntax error has occurred. Possible causes:
• Incorrectly terminated control structures (e.g. END_IF missing)
• Statements not terminated with ;
• Missing parentheses
7012 A syntax error in the statement, that starts at the specified line, has occurred. Possible causes:
• Incorrectly terminated control structures (e.g. END_IF missing)
• Statements not terminated with ;
• Missing parentheses
7013 A syntax error has occurred. An illegal construct is being used.
7014 A syntax error has occurred. Possible causes:
• Incorrectly terminated control structures (e.g. END_IF missing)
• Statements not terminated with ;
• Missing parentheses

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 357
Appendix
A.2 Compiler Error Messages and Remedies

A.2.8 Error when linking a source file

Table A-16 Error when linking a source file (8001, 8100)

Error Description
8001 The specified POU has been exported to the INTERFACE section, but an IMPLEMENTATION section is
missing. Either delete the export statement or specify a valid implementation.
8100 The maximum size of the data area that can be reached using HMI is 65536 bytes. This limit has been
exceeded with the specified variable. All subsequent variables cannot be reached either.

A.2.9 Errors while loading the interface of another UNIT or technology package

Table A-17 Errors while loading the interface of another UNIT or a technology package
(10000 - 10037, 10100 - 10101)

Error Description
10000 The specified unit has an invalid file format. Probably, the unit was created using an older version of the
compiler or compiled using incompatible options. If a unit is involved, it should compiled first. Then repeat the
current compilation. If a package is involved, a newer version should be installed.
10001 The unit name has an invalid format. The rules for identifiers in ST are also true for unit names; the following
restrictions apply to their length:
• Up to Version V4.0 of the SIMOTION Kernel: 8 characters.
• As of Version V4.1 of the SIMOTION Kernel: 128 characters.
10002 Error while loading the interface of another UNIT, a library or technology package. The specified identifier is
contained in two different imported units, libraries or technology packages.
• Remove a unit, library or technology package from the import list or
• Establish uniqueness between the identifiers in imported units, libraries or technology packages. Change
the exporting units in the interface section or specify a namespace for a library or a technology package
(USELIB … AS namespace; USEPACKAGE … AS namespace; ).
10003 The specified data type has an invalid memory layout. Probably, the unit was created using an older version
of the compiler or compiled using incompatible options. If a unit is involved, it should compiled first. Then
repeat the current compilation. You can also perform "Save and recompile everything".
If a package is involved, a newer version should be installed.
If the error persists, inform the support department.
10004 The exported identifiers of the specified unit could not be loaded. Close some applications and try again.
10005 A recursion was detected on loading packages. The specified package has already been loaded with
USEPACKAGE and cannot be specified a second time.
10006 A recursion was detected on loading the unit. The specified unit has already been loaded with USES and
cannot be specified a second time.
10007 The maximum number of imported units which can be referenced in a unit was exceeded. A maximum of 223
imported units per load unit are permissible. Both units imported directly with USES and indirectly imported
units are counted.
10008 The number of imported packages that can be referenced in a unit has been exceeded. A maximum of 127
imported packages per load unit are permissible.

SIMOTION ST Structured Text

358 Programming and Operating Manual, 08/2008
 Appendix
A.2 Compiler Error Messages and Remedies

Error Description
10009 The specified package is used in the unit, but it is not available on the device. This error message occurs
when you compile with the "implicit package utilization" option and have programmed a USEPACKAGE
statement that has a different content than the packages specified on the device.
10010 The specified package is used in Unit a but not in Unit b. This error message occurs when different packages
have been specified with USEPACKAGE in units that reference each other with USES. Correct the
USEPACKAGE statements.
10011 The specified unit is used directly or indirectly by itself via one or more units. Correct the USES statements.
10012 The specified unit is imported directly or indirectly into several units in different compilation versions.
Recompile all units that reference the specified unit in the USES statement.
10013 The specified unit has not yet been compiled, or an error occurred during the last compilation. Compile this
unit first to ensure successful compilation.
10014 The type of specified technology object (TO) is not supported by the package specified previously during
compilation with USEPACKAGE. Use a package that contains the TO type.
10015 The maximum number of technology objects (TO) which can be referenced in a unit was exceeded. A
maximum of 65535 TOs can be referenced.
10016 The device type parameter is not available. If the unit to be compiled is not to be assigned to a device, use
the statement UNIT xx : dvtype;
10017 The device type has not been specified uniquely. In the unit, the statement UNIT xx : dvtype; specifies a
different device type than the one determined via the assignment of the unit to the device.
10018 The specified unit could not be found. Check whether the unit name is available in the PROGRAM container
of Workbench or whether the specified file is contained in the current working directory (only u7bt00ax -
command line).
10019 The specified technology package could not be found. Observe the preceding error outputs.
10020 Error occurred while loading the technology package. Observe further error outputs.
10021 The technology package is used in the specified source file, however, it is not selected on the device. Correct
the USEPACKAGE statement, or select the technology package on the device.
10022 The specified technology package is being used with different versions. Correct the settings for the
technology package selection on the device and, if required, in the library. Only one version of a technology
package can be used on a device.
10030 The device type has not been specified uniquely. In the unit, the statement UNIT xx : dvtype; specifies a
different device type than the one determined via the assignment of the unit to the library container.
10031 The specified library is used directly or indirectly by itself via one or more libraries. Correct the USELIB
statements.
10032 The specified library could not be found. Check your project.
10033 A recursion was detected on loading the library. The specified library has already been loaded with USELIB
and cannot be specified a second time.
10034 The specified library is not completely compiled. Possible causes:
• The library has not yet been compiled.
• The library has not been compiled for all device types specified for the library container (e.g. in project-
wide compilation).
• An error occurred in the last compilation.
First compile this library individually (accept and compile).
10035 The specified library could not be found. Check whether the library name is available in the Workbench
project or whether the specified file is contained in the current working directory (only u7bt00ax command
line).

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 359
Appendix
A.2 Compiler Error Messages and Remedies

Error Description
10036 The specified package is used in the source file, but it is not available in the library. Libraries are generally
compiled against the package versions specified in the library container. You have programmed a
USEPACKAGE statement that has a different content than the packages specified in the library. Either select
the correct package version or remove the USEPACKAGE statement from the source file.
10037 The code variant for the current device type is not selected for the specified library. This means this library
cannot be used. Activate the code variant for this library.
10100 The specified type of a technology object is contained in several packages that were referenced by the
source file. Please choose the technology package that meets your requirements.
10101 The specified technology object is not compatible with the types of technology objects supported by the
loaded packages Update the package or change the type of technology object.

A.2.10 Implementation restrictions

Table A-18 Implementation restrictions (15001 – 15200)

Error Description
15001 The specified construct is not supported by the current version of the compiler.
15002 The currently selected device does not support the specified function. Select a different device version if you
want to use this function. To do so, replace the CPU in the hardware catalog and, if necessary, update the
firmware.
15003 The specified identifier is a keyword that is not supported and therefore cannot be used as user-specific in order
to ensure compatibility with later compiler versions.
15004 The specified identifier denotes a standard function that is not supported and cannot be used as user-specific
identifier in order to ensure compatibility with later compiler versions.
15005 The specified identifier denotes a non-supported standard function and cannot be used as user-specified
identifier in order to ensure compatibility with later compiler versions.
15006 The specified construct can only be used in source files generated with MCC. Usage in ST is not possible.
15007 A source/library/package is used in the implementation section either directly or indirectly without specifying a
namespace. In the interface section, it is used with a namespace. Solve this conflict by specifying a namespace
in the interface section for the specified source/library/package.
15070 The specified construct does not conform to the language standard, however, for compatibility reasons, is not
supported for old platforms. Convert the usage to the specified alternative.
15152 A USES, USELIB, or USEPACKAGE statement was found in a source file section hidden by conditional
compilation. This is illegal. Source file sections that contain these statements cannot be complied conditionally.
15153 The specified definition is not considered during code generation. It is not possible to define keywords
differently.
15200 The specification of a bit offset for a bitstring variable requires the "Permit language extensions" compiler option
(-C lang_ext).

SIMOTION ST Structured Text

360 Programming and Operating Manual, 08/2008
 Appendix
A.2 Compiler Error Messages and Remedies

A.2.11 Warnings

Table A-19 Warnings (16001 - 16602)

Error Description
16001 (Warning class: 0)
Only in conjunction with the "Selective Linking" compiler option. The specified function, the function block, or
the program are neither exported nor called in the current unit. No code is generated.
16002 (Warning class: 0)
Only in conjunction with the "Selective Linking" compiler option. The specified unit does not contain any
exported PROGRAM nor any task link. No code is generated for the unit.
16003 (Warning class: 2)
The operands of the comparison operation do not contain any explicit type definition. The data type listed in
the comparison can be seen in the warning message issued. Specify the data type of the used constants
explicitly with <type>#<value>.
16004 (Warning class: 2)
The specified type conversion may cause the variable value to change due to the reduced display width or
inadequate accuracy of the target data type.
16005 (Warning class: 2)
During type conversion, the dependency of the variable value can cause the sign to change.
16006 (Warning class: 2)
The specified value will be rounded to the next displayable value due to insufficient display width.
16007 (Warning class: 2)
A loss of accuracy occurred during type conversion. Not all decimal places are considered.
16008 (Warning class: 2)
A loss of accuracy occurred during initialization of the specified variables. The constant will be converted to the
specified data type. Not all decimal places are considered.
16009 (Warning class: 0)
Only in connection with compiler option Selective Linking. The specified unit does not contain any exported
PROGRAMs or any task linking. Unable to access unit code. Unable to call relevant POU.
16010 (Warning class: 0)
Specified program not exported to unit; therefore unable to use it in configuration of the execution level.
16011 (Warning class: 0)
The source file does not contain any exported global variables. No data are loaded to the target system.
16012 (Warning class: 0)
The specified source file name was taken over from the PROGRAMS container of the selected device. The
identifier of the source file in the UNIT statement was ignored.
16013 (Warning class: 2)
Because of the marshalling function, the specified data type is not portably convertible. Only use SIMOTION
devices in connection with this data type, or perform an explicit conversion of the data type.
16014 (Warning class: 2)
With the specified operation, a data type conversion is performed between signed and unsigned. Because the
bit string is adopted in this case, the resulting numerical value can differ from the specified value.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 361
Appendix
A.2 Compiler Error Messages and Remedies

Error Description
16015 (Warning class: 2)
For the assignment of the character string constants to the variables, only part of the character string
constants is transferred, because the length of the variable is insufficient to accept all characters.
16016 (Warning class: 2)
The operands in the expression do not contain any explicit type definition. The data type of the operation is
determined by specifying the values. The resulting data type in which the expression is calculated can be seen
in the issued warning message. To define the data type:
• Specify the data type of the used constants explicitly with <type>#<value>.
• Use an explicit data type conversion.
16017 (Warning class: 2)
The operands in the expression contain only constants. The data type of the operation can be determined by
specifying the data type (in the form <type>#<value>) or explicit data type conversion.
This output is used for finding problems, in particular, for the use of symbolic constants, because the data type
of the operation cannot normally be determined easily.
16018 (Warning class: 2)
The data type of the comparison operation is defined using the value of a constant that has a larger value
range than the contained variable. The comparison is performed with the data type of the constant.
16020 (Warning class: 1)
The declaration hides the specified identifier, which has been globally defined in its own source file or an
imported source file. Access to the global identifier is no longer possible from the POU where this identifier is
declared locally.
16021 (Warning class: 1)
The declaration hides the specified identifier, which is defined on the device. You can access the global device
identifier with _device.<name>.
16022 (Warning class: 1)
The declaration hides the specified identifier, which is defined in the project (e.g. technology object or device).
You can access the global project identifier with _project.<name>.
16023 (Warning class: 1)
The declaration hides the specified identifier for the data type of a technology object. Access to the data type
identifier is no longer possible.
16024 (Warning class: 1)
The declaration hides the access to the technology object on the device. You can access this TO with
_to.<name>.
16025 (Warning class: 1)
The declaration hides the IEC standard function with the identical name. Access to this function is no longer
possible in the current context.
16026 (Warning class: 1)
The specified identifier is reserved by SIEMENS for potential extensions. The use of this identifier can cause
compiler errors in later versions. If you want to avoid this, change this identifier.
16030 (Warning class: 1)
A label has been specified several times in a CASE statement. Only the first label is ever evaluated. Other
specifications have no effect.
16102 (Warning class: 3)
The option for output of code for the program status diagnosis function is ignored because no debug
information was generated. Output of debug information was deactivated via compiler options.

SIMOTION ST Structured Text

362 Programming and Operating Manual, 08/2008
 Appendix
A.2 Compiler Error Messages and Remedies

Error Description
16103 (Warning class: 3)
The option for outputting code at the library for the program status diagnosis function is ignored. The code for
program status is generated as defined in the option in the individual source files.
16150 (Warning class: 7)
A new definition has been made for the specified identifier. Consequently, the previous definition is invalid.
This warning enables the work of the preprocessor to be tracked.
16151 (Warning class: 7)
An attempt has been made to delete the definition of the specified identifier with #undef. However, the
identifier is not defined or the definition is already deleted.
This warning enables the work of the preprocessor to be tracked.
16152 (Warning class: 7)
The specified definition is not considered during code generation. The cause for this can be that the
preprocessor is deactivated for the compiled source.
16153 (Warning class: 7)
The preprocessor is not active in the current source, even though preprocesssor statements are used. Activate
the preprocessor or remove the statements.
16170 (Warning class: -)
The definition from sources imported using USES are not considered during the code generation.
16171 (Warning class: -)
The definition from the specified sources imported using USES could not be loaded. Compile the specified
source file beforehand.
16200 (Warning class: 4)
The use of a semaphore requires a global variable to enable access to it from a different task. Local task
operations do not have to be blocked via semaphores.
16210 (Warning class: 4)
The basis of the exponential function (EXPT standard function or ** operator) is negative. The operation can
be executed at run time only under the following conditions:
1. It can be used on a device with a version of the SIMOTION kernel as of V4.1.
2. The exponent is an integer.
The ExecutionFaultTask will be initiated for non-integer exponents or for use on a device with a version of the
SIMOTION kernel up to V4.0. The program will be aborted here.
16220 (Warning class: 4)
The condition of an IF statement, WHILE statement or REPEAT statement is a constant expression.
16230 (Warning class: 4)
The expression with the specified values does not cause any change to the result; optimized code will be
created.
16240 (Warning class: 4)
The expression with the specified values exceeds the definition range of the operation. The result may be
incorrect.
16300 (Warning class: 5)
The auxiliary value has a data type that cannot be converted to the data type configured for the message.
16301 (Warning class: 5)
The specified auxiliary value is not evaluated during output of the message.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 363
Appendix
A.2 Compiler Error Messages and Remedies

Error Description
16302 (Warning class: 5)
The data type of the auxiliary value cannot be determined from the message configuration. The specified data
type is used.
16303 (Warning class: 5)
No auxiliary value has been specified for the function although the message configuration requires such a
value. A default value of the corresponding data type was added.
16304 (Warning class: 5)
An alarm accompanying value is specified using a constant or a constant expression. The resulting data type
of the alarm accompanying value can be seen in the issued warning message. To define the data type:
• Specify the data type of the used constants explicitly with <type>#<value>.
• Use an explicit data type conversion.
16400 (Warning class: 6)
A global variable has been declared in a library. This may mean that the library cannot be used more than
once.
16420 (Warning class: 6)
The return value has not been assigned within the function. If such a function is called, it returns a random
value.
16421 (Warning class: 6)
A variable that has neither been assigned nor read in the code has been declared.
16450 (Warning class: –)
A global variable has been created in the retentive memory range. This declaration is not permissible at the
specified position.
16451 (Warning class: –)
The initialization of large arrays with values other than 0 causes a high data volume in the controller. This
results in long load times as well as high memory utilization.
16452 (Warning class: –)
The specified program has a large quantity of instance data to be initialized. This can lead to a runtime
violation when the task is started because both the initialization code and the user code are being executed. In
particular, caution is advised in the case of SynchronousTasks.
16470 (Warning class: -)
The specified construct does not conform to the language standard, however, for compatibility reasons, is not
supported for old platforms. Convert the usage to the specified alternative.
16600 (Warning class: 6)
The specified variable is not contained in the initialization list. The default initialization value is used.
16601 (Warning class: 6)
The specified variable is not contained in the initialization list. The default initialization value is used.
16602 (Warning class: 6)
The specified variable is not contained in the initialization list. The default initialization value is used.

SIMOTION ST Structured Text

364 Programming and Operating Manual, 08/2008
 Appendix
A.2 Compiler Error Messages and Remedies

A.2.12 Information

Table A-20 Information

Error Description
32010 (Warning class: 6)
The specified jump label identifier has been declared but not used.
32020 (Warning class: –)
The specified variable was declared globally in this source file or in another source file with the indicated data
type.
This information helps when searching for the cause of compilation errors. It is issued together with error
messages.
32021 (Warning class: –)
The specified variable was declared on the device as an I/O variable, a global device variable, or a system
variable.
This information helps when searching for the cause of compilation errors. It is issued together with error
messages.
32022 (Warning class: –)
The specified variable was declared in the project as a global identifier.
This information helps when searching for the cause of compilation errors. It is issued together with error
messages.
32023 (Warning class: –)
Until now, no valid declaration has been found for the specified identifier.
This information is issued together with error messages.
32024 (Warning class: 0)
The specified variable has been declared as a global identifier in the current unit or in an importing unit.
This information helps when searching for the cause of compilation errors. It is issued together with error
messages.
32030 (Warning class: 0)
The specified array initialization does not conform to IEC 61131-3. For portable programs, the array initialization
values should be placed into square brackets. Example of field initialization in compliance with the standard:
x : ARRAY [0 to 1] OF INT := [1, 2];
32050 (Warning class: 0)
The maximum size that can be reached via an HMI is 65536 bytes. This limit has been exceeded with the
specified variable. All subsequent variables cannot be reached either.
32300 (Warning class: 1)
A label has been specified several times in a CASE statement. Only the first label is ever evaluated. Other
specifications have no effect.
32650 (Warning class: 7)
The specified identifier will be replaced thereafter by the output text.
This information enables the work of the preprocessor to be tracked.
32651 (Warning class: 7)
The definition of the specified identifier has been deleted with #undef.
This information enables the work of the preprocessor to be tracked.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 365
Appendix
A.2 Compiler Error Messages and Remedies

Error Description
32652 (Warning class: 7)
The identifier will be used with the specified replacement text in the source file. Compilation takes place with the
replacement text.
This information enables the work of the preprocessor to be tracked.
32653 (Warning class: 7)
The specified identifier will be replaced thereafter by the output text. This information appears if additional
replacements are loaded with a USES statement.
This information enables the work of the preprocessor to be tracked.

SIMOTION ST Structured Text

366 Programming and Operating Manual, 08/2008
 Appendix
A.3 Template for Example Unit

A.3 Template for Example Unit

A.3.1 Preliminary information

This appendix presents a comprehensive annotated template that you can call in the online
Help. You can use it as a template for a new ST source file.

//----------------------------------------------------------------------------
// Notes for the INITIALIZATION of the user data are available
// at the end of the template
//----------------------------------------------------------------------------
INTERFACE
// All statements added between INTERFACE and END_INTERFACE/
// Keywords are used to define which source contents
// (variables, functions, function blocks, etc.) also in other
// sources (units) are available or exported.

USEPACKAGE cam;
// The technology packages to be used are known here and thus
// made usable in the source. Technology object (TO)-specific
// Commands can be used in this UNIT only when the
// appropriate package has been included.
// If a source file that uses USEPACKAGE cam is integrated via USES,
// it will be "inherited". USEPACKAGE can then be omitted.
// The package used in this example is "cam". However, other
// technology packages can also be used (see documentation).

// USELIB testlib;

// If library functions are to be used in the source file, they must be made
// known in the source, too. If the library
// with the name "testlib" does not exist in the project,
// the error message
// "Error 10035, "testlib.lib" library could not be loaded"
// "Error 10032, "testlib" library could not be loaded"
// will be output.
// If libraries are not being used, this line can be
// deleted..

// USES header;

// USES is used to import contents exported from a different source

// (NAME here "header") and made usable in "Template".
// If the source with the name "header" does not exist in the project,
// the error message
// "Error 10018, "header" source could not be loaded"
// will be output. In this case, the NAME of an existing source file must be
// used in place of "header".

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 367
Appendix
A.3 Template for Example Unit

A.3.2 Type definition in the interface

// ********************************************************
// * Type definition in the INTERFACE *
// ********************************************************

VAR_GLOBAL CONSTANT
PI : REAL := 3.1415;
ARRAY_MAX : INT := 3;
END_VAR
// Declaration of a global constant. In the source file
// no other value can be assigned to the identifier.

// User defined variable types (UDT) are

// defined between TYPE and END_TYPE.
TYPE
array1dim : ARRAY [0..ARRAY_MAX] OF INT;
// Definition of a one-dimensional array with four array elements from
// type INT under the name "array1dim". With "array1dim" as the data type
// in all source file segments, one-dimensional arrays can now
// be declared by type INT.

array2dim : ARRAY [0..3] OF array1dim;

// A two-dimensional array is an array of one-dimensional arrays.
// Here a two-dimensional field with 16 elements occurs
// of the type INT under the name "array2dim"

enumTrafficLight : (RED, YELLOW, GREEN);

// Definition of enumerator "enumTrafficLight" as a
// user-defined variable type. Variables of this type can
// only accept the values "RED", "YELLOW", and "GREEN".

structCollection : STRUCT
toAxisX : posaxis;
aInStruct1dim : array1dim;
eTrafficInStruct : enumTrafficLight;
iCounter : INT;
bStatus : WORD;
END_STRUCT;
// A user-defined structure is created here. It is possible to
// combine elementary data types (here INT and WORD) or already defined
// user data types (here "array1dim" and "enumTrafficLight") into
// one structure. In addition, types
// of technology objects can also be used.
// In the example, the structure contains an element of
// a positioning axis (posAxis).
// In the definition, make certain to sort the variables
// by size in increasing sequence
// (ARRAY, STRUCT, LREAL, DWORD, INT, BOOL ...)

arrayOfStruct : ARRAY [0..5] OF structCollection;

// Nesting is also possible. The type "arrayOfStruct"
// contains a field comprising six elements of type "structCollection"
END_TYPE

SIMOTION ST Structured Text

368 Programming and Operating Manual, 08/2008
 Appendix
A.3 Template for Example Unit

A.3.3 Variable declaration in the interface

// ********************************************************
// * Variable declaration in the INTERFACE *
// ********************************************************

VAR_GLOBAL // In the user memory of the UNIT.

// Also visible using HMI services.

g_aMyArray : ARRAY [0..11] OF REAL := [3 (2(4), 2(18))];

// Example of a declaration of a one-dimensional array without
// previous type declaration. The initialization performed here is
// read as follows:
// Two elements each are initialized with the value 4,
// two elements with the value 18. This pattern is used in the field

// "g_aMyArray" three times in succession.

// The field elements are thus assigned as follows:
// 4, 4, 18, 18, 4, 4, 18, 18, 4, 4, 18, 18.

g_aMy2dim : array2dim;
// Example of a declaration of a two-dimensional array

g_aMy1dim : array1dim;
// Example of a declaration of a one-dimensional array with
// use of a type declaration.

g_sMyStruct : structCollection;
// Variable of the type or with the structure of
// user_struct.

g_aMyArrayOfStruct : arrayOfStruct;
// The variable generated here contains a field from
// structural elements as declared in section TYPE/END_TYPE

g_tMyTime : TIME := T#0d_1h_5m_17s_4ms;

// ...as elementary time types and derived data types (see below).

g_eMyTraffic : enumTrafficLight := RED;

// An enumerator of type "enumTrafficLight" is created here and
// assigned the value "RED".

g_iMyInt : INT := -17;

// Variables of an elementary numerical data type can
// also be declared in variable declarations...

END_VAR

VAR_GLOBAL RETAIN
END_VAR
// The variables declared with the add-on RETAIN are
// stored in the RETAIN data area of the hardware platform used and
// are therefore safe from network failure.
// The declaration of VAR, VAR CONSTANT, VAR_TEMP, VAR_INPUT, VAR_OUTPUT
// and VAR_IN_OUT is not permissible here.
// Variables that are defined in this section and thus exported
// can be reimported by means of the USES "template" into another source file (UNIT)

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 369
Appendix
A.3 Template for Example Unit

FUNCTION FC_myFirst;
FUNCTION_BLOCK FB_myFirst;
PROGRAM myPRG;
// The function blocks (FBs),
// functions (FCs) and programs defined in the implementation part are exported here
in the interface part,
// so that they can be used in other units.
// Non-exported FBs and FCs can only be used in this source file
// ("information hiding", placing in the interface only
// what other units absolutely need).
// A program that has not been exported cannot be assigned to any TASK
// deleted..
END_INTERFACE

SIMOTION ST Structured Text

370 Programming and Operating Manual, 08/2008
 Appendix
A.3 Template for Example Unit

A.3.4 Implementation

// ******************************************************
// * IMPLEMENTATION section *
// ******************************************************

IMPLEMENTATION
// In the IMPLEMENTATION section of a unit, the executable code sections
// are stored in various program organization units (POUs).
// A POU can be a program, FC, or FB.

VAR_GLOBAL CONSTANT
END_VAR

TYPE
END_TYPE
// The type definition can also be made in the IMPLEMENTATION section.
// However, this definition cannot be imported in another source file.
The type definition can, however, be used for variables
// in all POUs of the source file "Template". The definition of types must
// be performed before the declaration of a variable.
VAR_GLOBAL // In the user memory of the UNIT
g_boDigInput1 : BOOL;
// Boolean variable for "EXPRESSION" example (see below).
END_VAR

VAR_GLOBAL RETAIN
END_VAR
// The variables declared with the add-on RETAIN are
// stored in the RETAIN data area of the hardware platform used and
// are therefore safe from network failure.
// Variable declaration in the IMPLEMENTATION section.
// The declaration of VAR, VAR CONSTANT, VAR_TEMP, VAR_INPUT, VAR_OUTPUT
// and VAR_IN_OUT is not permissible here.

EXPRESSION xCond
xCond := g_boDigInput1;
END_EXPRESSION
// Definition of an EXPRESSION.
// An EXPRESSION is a special function case, which recognizes only the
// return values TRUE and FALSE. It is used in conjunction with the
// statement WAITFORCONDITON (see myPRG) and should only be used
// if the program is executed as part of
// a MotionTask. If "dig_input_1" (usual in a digital input or a
// condition in the program) takes on the value 1, the return value of the
// EXPRESSION is TRUE.

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 371
Appendix
A.3 Template for Example Unit

A.3.5 Function

// ********************************************************
// * FUNCTION *
// ********************************************************

// The declaration of an FB or FC must be placed in the source file

// before the actual use (the call), so that the code of the
// block is already known to the calling point.

FUNCTION FC_myFirst : INT

// The statement section of the POU FUNCTION begins here. The return value
// of the function has the type integer in this case.
// The stack of the calling TASK is initialized on each call.
The return value is located on the stack and is
// written by the FUNCTION.

VAR CONSTANT
END_VAR

TYPE
END_TYPE
// The type declaration can also be made in POUs. The
// basic difference is the validity of the
// type declaration. A type declared in a POU can only
// be used for variables within associated POU.

VAR_INPUT // In the stack of the calling TASK, will be placed on

// stack on call, assignment optional.
END_VAR

VAR // In the stack of the calling task

// is used in FUNCTION.
END_VAR
// Variable declaration in an FC.
// The declaration of VAR_TEMP, VAR_GLOBAL, VAR_GLOBAL CONSTANT,
// VAR_GLOBAL RETAIN, VAR_OUTPUT and VAR_IN_OUT is not
// permissible here.

// The use of unit-global variables for data acceptance in FCs

// and FBs is the fastest option for the runtime. The use
// of the input parameters VAR_INPUT and the return via the
// return value is slower, since the values are copied respectively.

// Comment: Variables declared with VAR and VAR CONSTANT are

// temporary. On the next call, the contents from the latest
// call are no longer available, in contrast to the FB.

// ********************************************
// * Area for FC code or statements *
// ********************************************)
// Code is in the user memory.
g_eMyTraffic := YELLOW; // e.g. change the traffic light.

FC_myFirst := 17;
// In this example, the function returns the value "17" to the
// calling program.

END_FUNCTION

SIMOTION ST Structured Text

372 Programming and Operating Manual, 08/2008
 Appendix
A.3 Template for Example Unit

A.3.6 Function block

// ******************************************************
// * FUNCTION_BLOCK *
// ******************************************************

// The declaration of an FB or FC must be placed in the source file

// before the actual use (the call), so that the code of the
// block is already known to the calling point.

FUNCTION_BLOCK FB_myFirst
// The statement section of the FUNCTION_BLOCK POU begins here.
// Instance data are dependent where the instance is formed
// (see comments at the template end) in the user memory of UNIT
// or TASK and are initialized with STOP->RUN or starting the TASK

// The pointer to the instance data is transferred during the call.

VAR CONSTANT
END_VAR
// Variables declared with VAR and VAR CONSTANT are
// static, i.e., on the next block call, their contents remain
// available and valid.

TYPE
END_TYPE
// The type definition can also be made in POUs. The
// basic difference is the validity of the
// Type definition. A type defined in a POU can only
// be used for variables within associated POU.

VAR_INPUT // In the user memory of the UNIT or TASK,

// assignment optional on call.
END_VAR

VAR_IN_OUT // In the user memory of the UNIT or TASK,

// reference must be assigned on call.
END_VAR

VAR_OUTPUT // In the user memory of the UNIT or TASK.

END_VAR

VAR // In the user memory of the UNIT or TASK,

// can be used in the FB.
END_VAR

VAR_TEMP // In the stack of the calling task,

// is initialized on each call.
END_VAR

// Variable declaration in an FB.

// The declaration of VAR_GLOBAL, VAR_GLOBAL CONSTANT and
// VAR_GLOBAL RETAIN is not permissible here.

// ********************************************
// * Area for FB code or statements *
// ********************************************

g_eMyTraffic := GREEN; // e.g. change the traffic light.

END_FUNCTION_BLOCK

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 373
Appendix
A.3 Template for Example Unit

A.3.7 Program

// ******************************************************
// * PROGRAM *
// ******************************************************

PROGRAM myPRG
// The statement section of the POU PROGRAM begins here.

VAR CONSTANT
END_VAR

TYPE
END_TYPE
// The type definition can also be made in POUs. The
// basic difference is the validity of the
// Type definition. A type defined in a POU can only
// be used for variables within associated POU.
VAR // In the user memory of the TASK.
instFBMyFirst : FB_myFirst;
// In order to be able to call an FB, an area for static
// variables (forming an instance) must be generated. This has to do with
// the "memory" of the FB.

retFCMyFirst : INT;
// Variable for the return value of the function.
END_VAR

VAR_TEMP // In the stack of the task, initialized in each pass.

END_VAR
// Variable declaration in a PROGRAM.
// The declaration of VAR_GLOBAL, VAR_GLOBAL CONSTANT,
// VAR_GLOBAL RETAIN, VAR_INPUT, VAR_OUTPUT and VAR_IN_OUT
// is not permissible here.

// Comment: Whether the local variables declared via VAR

// are temporary variables depends on the task context in which the
// PROGRAM is used.
//
// In non-cyclic tasks (StartupTask, ShutdownTask, MotionTasks,
// SystemInterruptTasks and UserInterruptTasks) the previous
// contents of VAR and VAR_TEMP are no longer available.
// The variables are thus temporary.
//
// With other cyclic tasks (BackgroundTask, IPOsynchronousTask,
// IPOsynchronousTask_2 and TimerInterruptTasks), the contents
// of variables declared in the VAR section remain the same
// for the following run. The variables are thus static.
// Variables from VAR_TEMP are always temporary.

instFBMyFirst ();
// FB call with a valid instance.

retFCMyFirst := FC_myFirst ();

// FC call and assignment of return value.

SIMOTION ST Structured Text

374 Programming and Operating Manual, 08/2008
 Appendix
A.3 Template for Example Unit

WAITFORCONDITION xCond WITH TRUE DO

// The statements programmed here come immediately for
// execution if the condition "xcond" defined in the associated
// EXPRESSION is logically true.
;
END_WAITFORCONDITION;
// WAITFORCONDITION is generally used only in MotionTasks.
These remain in the location and the
// condition defined in the EXPRESSION is checked with high priority.

END_PROGRAM

END_IMPLEMENTATION
//----------------------------------------------------------------------------

A.3.8 Notes on initialization

// INSTRUCTION FOR INITIALIZATION OF USER DATA

// * User data (variables from elementary data types, structures, and arrays)
// * are initialized as different times. The time
// * depends on the location (i.e., memory area) of the data.
// * A distinction is always made between the main memory of a task (stack) and
// * in the user memory of the TASK. There is a user memory
// * for a TASK and for a UNIT.

// Data in the main memory of a task (stack):

// ==============================================
// Each task has a reserved memory for stack data (parameters for
// function calls, temporary variables). The stack size of a TASK is
// calculated by the compiler and can be influenced by the user in the
// execution system under task configuration (Reserve for Download in the RUN).
// * The main memory of a TASK (stack) contains the following data:
// - VAR of FUNCTIONs
// - VAR_TEMP of FUNCTION_BLOCKs and PROGRAMs
// - VAR_INPUT and return value of FUNCTIONs
// * These are initialized at each call (delete / set to zero and
// from the program, if necessary).

// The user memory (heap) is managed separately for each UNIT and for each
// TASK:
// ==========================================================================
// * The user memory of a UNIT contains the following data:
// - VAR_GLOBAL from INTERFACE and IMPLEMENTATION
// * These are initialized (delete / set to zero and write initial values
// from the program, if necessary):
// - During startup
// - During loading (if initialization of all non-retentive data is
// selected)
//
// * The user memory of a TASK contains the following data:
// VAR of PROGRAMs
// * These are initialized (delete / set to zero and write initial values
// from the program, if necessary):
// - For cyclic tasks, once when STOP->RUN
// - For non-cyclic tasks, at start of task

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 375
Appendix
A.3 Template for Example Unit

//
// * The instance data of FUNCTION_BLOCKs (VAR_INPUT, VAR_OUTPUT,
// VAR_IN_OUT (reference), VAR) are dependent on where the instance of the FB
// is formed, in the user memory of a UNIT or TASK.
// Instantiation of the FB in
// - VAR_GLOBAL: Instance is located in the user memory of the UNIT
// - VAR in the PROGRAM: Instance is located in the user memory of the TASK
// - VAR in the FB: Instance is located in the user memory according to
// higher-level FB
// * The instance data are initialized as described above.
// Which variable type is located in which data area can be obtained in
// comments in the template.
//----------------------------------------------------------------------------

SIMOTION ST Structured Text

376 Programming and Operating Manual, 08/2008
Index
_setSafeValue
Application, 226
k _task, 235
_to, 235
–, 123
_U7_PoeBld_CompilerOption, 247

# +
#define, 245
+, 123
#else, 245
#endif, 245
#ifdef, 245
<
#ifndef, 245
#undef, 245 <, 125
<=, 125
<>, 125
*
*, 123
=
**, 123
=, 125
=>, 155
/
/, 123
>
>, 125
: >=, 125
:, 95, 105
:=, 113, 153, 154
1
-1.#IND, 260, 262
_ 1.#INF, 260, 262
-1.#INF, 260
_additionObjectType, 102
-1.#INF, 262
_alarm, 235
1.#QNAN, 260, 262
_camTrackType, 102
-1.#QNAN, 260
_controllerObjectType, 102
-1.#QNAN, 262
_device, 226, 235
_direct, 211, 214, 226, 235
_fixedGearType, 102
A
_formulaObjectType, 102
_getSafeValue Absolute identifier
Application, 226 Overview, 297
_project, 235 Access times
_sensorType, 102 Parameter, 156

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 377
Index

ANY, 92 Code attributes, 241

ANY_BIT, 92 Commands
ANY_DATE, 92 Overview of the basic system, 299
ANY_ELEMENTARY, 92 ST programming language overview, 81
ANY_INT, 92 Comments, 88
ANY_NUM, 92 Source file section, 88
ANY_REAL, 92 Syntax, 316
ANYOBJECT, 102 Compiler, 64
Arithmetic operators, 122 Attribute, 247
ARRAY data type specification Correcting errors, 44, 65
Error source, 97 Declaration errors, 351
Arrays Declaration errors in type declaration, 352
Data type, 97 Error when linking a source file, 358
Value assignments, 118 Errors while loading the interface of another UNIT
Attribute or technology package, 358
Compiler option, 247 File access errors, 350
Implementation restrictions, 360
Information, 365
B Scanner errors, 350
Setting, 44
Basic elements
Start, 64
Of ST, 73
starting, 44
Basic functions, 122
Syntax errors, errors in expression, 357
Bit constants, 84
Warnings, 361
Bit data types, 90
Compiler option, 44, 50
BlockInit_OnChange, 248
Compiling
BlockInit_OnDeviceRun, 248
Library, 227
Blocks, 72
Compound data types, 97, 100
BOOL, 90
Constant block
Boolean data, 84
Syntax, 323
Branches
Constants
Syntax, 345
Bit, 84
Breakpoint, 271
Data types for constants, 89
Activating, 285
Date and time, syntax, 313
Call path, 279, 282
Digit strings, syntax, 312
Call stack, 287
Floating-point number, 83
Deactivating, 287
Formatting characters and separators, 296
remove, 276
Globally valid, 186
Set, 276
Integer, 82
Toolbar, 278
Literals, syntax, 308
BYTE, 90
Symbolic names, 111
Time specifications, 91
Unit constants, 186
C
Control statements, 130
Call path CPU memory access
Breakpoint, 279, 282 Identifiers for process image access, 297
Call stack, 287 Variable model, 184
Program run, 263 Cross-reference list, 237
Program status, 268 Displayed data, 238
camType, 102 Single step monitoring, 238
CASE statement TSI#dwuser_1, 238
Description, 131 TSI#dwuser_2, 238
Character set, 73, 294 Cyclic program execution

SIMOTION ST Structured Text

378 Programming and Operating Manual, 08/2008
 Index

Effect on I/O access, 211, 214, 220 Derived data type

Effect on variable initialization, 200 STRUCT, 100
DINT, 90
DINT#MAX, 92
D DINT#MIN, 92
Direct access, 211, 214
Data model, 184
Features, 212
Data type specification
Variable model, 184
ARRAY, 97
Download
elementary, 96
Effect on variable initialization, 200
Enumerator, 99
driveAxis, 102
STRUCT, 100
DT, 91
Data types
DWORD, 90
ARRAY, 97
Bit data type, 90
Conversions, 141
E
Derivation of simple types, 96
elementary, 90 Editor, 25
Elements, syntax, 331 Example for program, 62
Enumerator, 99 Operation, 63
Enumerators, 99 Toolbar, 43
Explicit conversions, 144 Elementary data types
Implicit conversions, 142 Overview, 90
Inheritance, 103 Enumerator data types, 99
Numeric, 90 Enumerators, 99
STRING, 91 Error
STRUCT, 100 ARRAY data type specification, 97
Structure, 100 FB or FC call, 159
Syntax, 330 Error messages
Technology object, 101 Declaration errors, 351
Time, 91 Declaration errors in type declaration, 352
TYPE, 95 Error when linking a source file, 358
User-defined, 95 Errors while loading the interface of another UNIT
User-defined, syntax, 333 or technology package, 358
DATE, 91 File access errors, 350
DATE_AND_TIME, 91 Implementation restrictions, 360
Debug mode, 253, 272 Information, 365
Declaration Scanner errors, 350
Parameter, 106 Syntax errors, errors in expression, 357
Variables, 106 Warnings, 361
Declaration section Example, complete
Syntax, 321 FBs and FCs, 161
Declarations Rotate bit in output byte, 59
Syntax, 326 ST source file (template), 367
Derivation of simple data types, 96 User-defined data types, 101
Derived data type Using data types of TOs, 103
Enumerator, 99 EXIT statement
Derived data type Description, 138
ARRAY, 97 Explicit data type conversions, 144
Enumerator, 99 Exponent
Field, 97 Description, 83
Derived data type Exponentiation, 123
Structure, 100 Export

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 379
Index

ST source file, 53 Instances, 157

EXPRESSION Local variables, 152
Description, 174 Names, 157
Syntax, 166 Output parameters, 152
Logic expression; bit-serial expression Source file section, 173
logic; expressions: bit-serial, 127 Structure, 149
Expressions Syntax, 149
Arithmetic, 122
Logic, 129
Relational expressions, 125, 129 G
Rules for formulation, 120, 129
Global device data
externalEncoderType, 102
Definition, 193
In the data model, 184
Global user data
F
Definition, 193
FB, 147 Variable model, 184
FB/FC variables Global variable block
Definition, 189 See Unit variables, 187
Variable model, 184 GOTO statement, 250
FC, 147
File
See Source file, 86 H
Floating-point number
Hardware
Data types, 90
Setting up, 61
Description, 83
Hiding validity ranges, 231
Notation, 83
HMI_Export, 247
followingAxis, 102
followingObjectType, 102
FOR statement
I
Description, 134
Formatting characters, 294 I/O variable
Function, 147 Creating, 214, 225
Call path, 268 Direct access, 211, 214
Calling, 156 Process image, 211, 214
defining, 148 Process image of the BackgroundTask, 221
Error sources during a call, 159 Identifier
Example, 161 Predefined, 297
Input parameters, 152 Reserved for ST, 81, 299
Local variables, 152 Rules for formulating, 73
Source file section, 172 Syntax, 73
Structure, 148 Identifiers
Syntax, 148 Syntax, 307
Function block, 147 IF statement
Call path, 268 Description, 130
Call, syntax, 158 Implementation
Calling, 157 Source file section, 171
defining, 149 Implicit data type conversions, 142
Difference to the FC, 161 Import
Error sources during a call, 159 ST source file, 54
Example, 161 In/out assignment
In/out parameter, 152 Syntax, 155
Input parameters, 152 In/out parameter

SIMOTION ST Structured Text

380 Programming and Operating Manual, 08/2008
 Index

Function block, 152 Compiling, 227

Transfer, 154 Using, 230
Inheritance Local data stack, 194, 199
During import/export, 182 Local variables
For technology objects, 103 Variable model, 184
Initialization LREAL, 90
Syntax, 328
Time of the variable initialization, 200
Input assignment M
Syntax, 153
measuringInputType, 102
Input parameters
Memory requirement, 194, 199
Access in the function block, 159
MOD, 123
Function, 152
Mode
Function block, 152
Debug mode, 253, 272
Transfer, 153
Test mode, 253
Instance declaration of FB
Multi-element variables, 118
Syntax, 157
Instruction
Source file section, 87
N
INT, 90
INT#MAX, 92 Name space
INT#MIN, 92 User-defined, 234
Integer Names, 73
Data types, 90 Namespace
Description, 82 Predefined, 235
Notation, 82 New
Integer number I/O variable, 214, 225
See Integer, 82 Number systems
Interface Notation, 83
Source file section, 170 Numbers
Data types for numbers, 89
Description, 82
J Notation, 82
Numeric data types, 90
Jump labels
Syntax, 326
O
K Operands
Syntax, 338
Key combination, 27
Operating mode
Keyboard shortcuts, 27
Process mode, 253
Know-how protection
Test mode, 266
Libraries, 229
Operators, 298
Know-how Protection
Priority, 129
Source files, 51
Relational operators, 125
Syntax, 341
Output parameters
L
Access in the function block, 159
LABEL declaration, 250 Function block, 152
Language description Transfer, 155
Resources, 71, 291, 294 outputCamType, 102
Library, 227

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 381
Index

P Program section
See Source file section, 169
Parameter
Program structure, 239
Access times, 156
Program structuring, 130
Block (syntax), 150
program variables
Declaration, 149
Definition, 189
Declaration, general, 106
In the data model, 188
Function and function block, 149
Variable model, 184
Transfer (in/out parameter), 154
Programming environment, 17
Transfer (input parameter), 153
Project
Transfer (output parameter), 155
Opening, 60
Transfer (principle), 153
Prototypes, 179
Parameter fields
Syntax, 325
posAxis, 102
R
Pragma
Attribute, 247 REAL, 90
Preprocessor statement, 244 Real number
Preprocessor See Floating-point number, 83
Activating, 45, 48 Reference, 101
Controlling, 243 Reference data, 237
Preprocessor statement, 244 References, 5
Using, 45, 48 Relational expressions, 125
Warning class, 49 REPEAT statement
Preprocessor statement Description, 137
Example, 246 Repetition statements and jump statements
Printing Syntax, 347
ST source file, 54 Reserved identifiers, 75, 299
Process image RETAIN, 186
Features, 212 Retentive variables
principle and use, 211, 220 Definition, 188
Symbolic access, 223 Variable model, 184
Process image of the BackgroundTask, 211 RETURN statement
Process image of the cyclic tasks, 211, 214 Description, 138
Process mode, 253 Rules
Program Formatted, 291, 307
Assigning tasks, 66 Semantics, 72
Call path, 268 Unformatted, 293, 307
Compiling, 64 RUN
Connecting to target system, 67 Effect on variable initialization, 200
Creating (example), 62
Download, 69
Executing, 66, 70 S
Locating errors, 252
SCOUT Workbench > See Workbench, 17
Source file section, 174
sections
starting, 66, 70
Syntax, 317
Status (test tool), 265
Separators, 294
Testing, 252
Sequential program execution
Program organization units
Effect on I/O access, 211, 214
Source file section, 171
Effect on variable initialization, 200
Syntax, 319
Setting
Program run, 263
Compiler, 44
Toolbar, 264
Shortcuts, 27

SIMOTION ST Structured Text

382 Programming and Operating Manual, 08/2008
 Index

Simple data types Syntax, 318

Derivation, 96 Symbol Browser, 257
Single step monitoring Symbolic access to I/O address space
Cross-reference list, 238 Process image, 223
Single-element variables, 114 Syntax diagram, 71
SINT, 90 System functions
SINT#MAX, 92 Inheritance, 103
SINT#MIN, 92 System variables
Source file Inheritance, 103
Structure, 86 Variable model, 184
Source file section, 169
Data type declaration, 176
Declaration section, 175 T
Function, 172
T#MAX, 92
Function block, 173
T#MIN, 92
Implementation, 171
Target variable, 113
Instruction, 87
Task
Interface, 170
Assigning programs, 66
Program, 174
Effect on variable initialization, 200
Program organization units, 171
Technology object
Statement section, 176
Data type, 101
Unit statement, 179
Inheritance, 103
Variable declaration, 177
Template
ST compiler. See Compiler, 44
ST source file, 367
ST editor, 25
Terminals, 73
ST source file
Test mode, 253, 266
exporting, 53
Testing a program, 252
Importing, 54
TIME, 91
Printing, 54
Time types
See Source file, 86
Conversions, 141
Template (example), 367
Functions, 122
ST source file section
Overview, 91
See Source file section, 169
TIME#MAX, 92
Standard functions, 122
TIME#MIN, 92
Statement
TIME_OF_DAY, 91
Source file section, 176
TIME_OF_DAY#MAX, 92
Statement section
TIME_OF_DAY#MIN, 92
Syntax, 335
TO#NIL, 102
Status
TOD, 91
Program (test tool), 265
TOD#MAX, 92
STOP to RUN
TOD#MIN, 92
Effect on variable initialization, 200
Trace tool, 289
STRING, 91
TSI#dwuser_1
assignment, 114
Cross-reference list, 238
Edit, 115
TSI#dwuser_2
Element, 115
Cross-reference list, 238
Syntax diagram, 91
TYPE, 95
StructAlarmId, 93
Type conversion functions, 141
STRUCTALARMID#NIL, 93
Type declaration, 95
StructTaskId, 93
STRUCTTASKID#NIL, 93
Structured variables, 118
Structures

SIMOTION ST Structured Text

Programming and Operating Manual, 08/2008 383
Index

U ARRAY, 118
ARRAY, 118
UDINT, 90
Battery-backed, 188
UDINT#MAX, 92
Declaration, 106
UDINT#MIN, 92
Declaration (source file section), 177
UDT
elementary, 114
See User-defined data type, 94
Enumerator data type, 117
UINT, 90
Enumerator data type, 117
UINT#MAX, 92
Function block, 152
UINT#MIN, 92
Functions, 152
Unit
Hiding validity ranges, 231
Source file section, 179
Identical names, 231
Template (example), 367
Initializing, description, 107
UNIT, 179
Instance declaration of FB, 157
Unit constants
Parameter declaration, 149
Definition;, 186
Process image, 211, 220
Unit variables, 187
Retentive, 188
Definition, 186
static, 189
Variable model, 184
structured, 118
USELIB, 170
Temporary, 189
USEPACKAGE, 170
timing of initialization, 200
User-defined data type
Validity, 184
Syntax, 95
Watch tables, 261
USES, 170, 171, 181
USINT, 90
USINT#MAX, 92
W
USINT#MIN, 92
Warning class, 49, 243
Watch tables, 261
V WHILE statement
Description, 136
Value assignments
WORD, 90
Description, 113
Workbench
Syntax, 336
Elements, 19
Variable blocks
Programming environment, 17
Syntax, 323
Variables, 105

SIMOTION ST Structured Text

384 Programming and Operating Manual, 08/2008