Logix 5000 Controllers

Sequential Function Charts

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

Programming Manual Original Instructions

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

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

Global changes
None in this release.

New or enhanced features

This table identifies new and enhanced features in this release.

Change Topic
Updated the diagrams that show options for execution control. Execution diagrams on page 48

Rockwell Automation, Inc. Publication 1756-PM006L-EN-P - September 2024 3

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Contents

Design a sequential function chart..........................................................................................................................................................................................................................11

Introduction...................................................................................................................................................................................................................................................................................................11

What is a sequential function chart?......................................................................................................................................................................................................................................................11

Define the tasks..........................................................................................................................................................................................................................................................................................14

Choose how to execute the SFC..............................................................................................................................................................................................................................................................15

Define the steps of the process..............................................................................................................................................................................................................................................................16

Step guidelines................................................................................................................................................................................................................................................................................. 16

SFC_STEP structure..........................................................................................................................................................................................................................................................................17

Organize the steps.....................................................................................................................................................................................................................................................................................20

Sequence........................................................................................................................................................................................................................................................................................... 22

Selection branch.............................................................................................................................................................................................................................................................................. 23

Simultaneous branch...................................................................................................................................................................................................................................................................... 23

Wire to a previous step..................................................................................................................................................................................................................................................................24

Add actions for each step........................................................................................................................................................................................................................................................................24

How do you want to use the action?...........................................................................................................................................................................................................................................25

Use a non-Boolean action..............................................................................................................................................................................................................................................................25

Use a Boolean action......................................................................................................................................................................................................................................................................26

SFC_ACTION structure.....................................................................................................................................................................................................................................................................26

Describe each action in pseudocode.....................................................................................................................................................................................................................................................27

Choose a qualifier for an action.............................................................................................................................................................................................................................................................28

Define the transition conditions............................................................................................................................................................................................................................................................. 29

Transition tag...................................................................................................................................................................................................................................................................................30

How do you want to program the transition?........................................................................................................................................................................................................................... 30

Use a BOOL expression................................................................................................................................................................................................................................................................... 31

Call a subroutine in a transition................................................................................................................................................................................................................................................... 31

Transition after a specified time............................................................................................................................................................................................................................................................ 31

Turn off a device at the end of a step................................................................................................................................................................................................................................................. 34

Choose a last scan option.............................................................................................................................................................................................................................................................34

Use the Don’t Scan option............................................................................................................................................................................................................................................................. 36

Use the programmatic reset option.............................................................................................................................................................................................................................................37

Use the automatic reset option................................................................................................................................................................................................................................................... 38

Keep something on from step-to-step.................................................................................................................................................................................................................................................. 39

How do you want to control the device?....................................................................................................................................................................................................................................39

Use a simultaneous branch...........................................................................................................................................................................................................................................................40

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 Store and reset an action.............................................................................................................................................................................................................................................................. 41

Use one large step.......................................................................................................................................................................................................................................................................... 42

End the SFC.................................................................................................................................................................................................................................................................................................43

Use a stop element.........................................................................................................................................................................................................................................................................43

Restart (reset) the SFC................................................................................................................................................................................................................................................................... 44

SFC_STOP structure.........................................................................................................................................................................................................................................................................45

Nest an SFC.................................................................................................................................................................................................................................................................................................45

Pass parameters.............................................................................................................................................................................................................................................................................. 47

Configure when to return to the OS/JSR...............................................................................................................................................................................................................................................47

Pause or reset an SFC.............................................................................................................................................................................................................................................................................. 47

Execution diagrams................................................................................................................................................................................................................................................................................... 48

Program a sequential function chart..................................................................................................................................................................................................................... 53

Introduction................................................................................................................................................................................................................................................................................................. 53

Add and manually connect elements...........................................................................................................................................................................................................................................53

Add and automatically connect elements.................................................................................................................................................................................................................................. 53

Drag elements.................................................................................................................................................................................................................................................................................. 54

Create a simultaneous branch................................................................................................................................................................................................................................................................ 54

Start a simultaneous branch.........................................................................................................................................................................................................................................................54

End a simultaneous branch...........................................................................................................................................................................................................................................................55

Create a selection branch........................................................................................................................................................................................................................................................................55

Start a selection branch................................................................................................................................................................................................................................................................ 56

End a selection branch.................................................................................................................................................................................................................................................................. 56

Set the priorities of a selection branch................................................................................................................................................................................................................................................ 57

Connect a wire to the step...................................................................................................................................................................................................................................................................... 57

Hide a wire.................................................................................................................................................................................................................................................................................................. 59

Configure a step.........................................................................................................................................................................................................................................................................................59

Assign the preset time for a step................................................................................................................................................................................................................................................59

Configure alarms for a step..........................................................................................................................................................................................................................................................59

Use an expression to calculate a time....................................................................................................................................................................................................................................... 60

Program a transition..................................................................................................................................................................................................................................................................................61

Enter a BOOL expression................................................................................................................................................................................................................................................................ 61

Call a subroutine when programming a transition....................................................................................................................................................................................................................61

Add an action..............................................................................................................................................................................................................................................................................................62

Configure an action................................................................................................................................................................................................................................................................................... 62

Change the qualifier of an action................................................................................................................................................................................................................................................62

Calculate a preset time at runtime............................................................................................................................................................................................................................................. 63

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 Mark an action as a BOOLean action.......................................................................................................................................................................................................................................... 64

Program an action.....................................................................................................................................................................................................................................................................................64

Enter structured text...................................................................................................................................................................................................................................................................... 64

Call a subroutine in an action...................................................................................................................................................................................................................................................... 64

Assign the execution order of actions...................................................................................................................................................................................................................................................65

Document an SFC.......................................................................................................................................................................................................................................................................................66

Language switching........................................................................................................................................................................................................................................................................ 66

Add structured text comments..................................................................................................................................................................................................................................................... 67

Add a tag description..................................................................................................................................................................................................................................................................... 67

Add a text box.................................................................................................................................................................................................................................................................................. 67

Show or hide text boxes or tag descriptions............................................................................................................................................................................................................................ 68

Hide an individual tag description...............................................................................................................................................................................................................................................69

Configure the execution of the SFC....................................................................................................................................................................................................................................................... 69

Verify the routine....................................................................................................................................................................................................................................................................................... 70

Edit an SFC online......................................................................................................................................................................................................................................................................................70

Maintain active SFC step................................................................................................................................................................................................................................................................70

Force steps............................................................................................................................................................................................................................................................... 71

Introduction.................................................................................................................................................................................................................................................................................................. 71

Precautions...................................................................................................................................................................................................................................................................................................71

Enable forces............................................................................................................................................................................................................................................................................................... 71

Disable or remove a force........................................................................................................................................................................................................................................................................72

Check force status.....................................................................................................................................................................................................................................................................................72

Force LED.......................................................................................................................................................................................................................................................................................... 72

GSV instruction.................................................................................................................................................................................................................................................................................73

Step through a transition or a force of a path....................................................................................................................................................................................................................................74

When to use an SFC force....................................................................................................................................................................................................................................................................... 74

Force a transition............................................................................................................................................................................................................................................................................ 74

Force a simultaneous path............................................................................................................................................................................................................................................................ 75

Add an SFC force........................................................................................................................................................................................................................................................................................75

Remove or disable forces.........................................................................................................................................................................................................................................................................76

Disable all SFC forces..................................................................................................................................................................................................................................................................... 76

Remove all SFC forces....................................................................................................................................................................................................................................................................76

Rockwell Automation, Inc. Publication 1756-PM006L-EN-P - September 2024 7

Preface
This manual shows how to design and program Sequential Function Charts (SFCs) for Logix 5000 controllers to execute. This manual is one of a set of related manuals that show
common procedures for programming and operating Logix 5000 controllers.

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

The term Logix 5000 controller refers to any controller based on the Logix 5000 operating system.

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

Studio 5000 environment

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

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

Additional resources
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 Chapter 1

Design a sequential function chart

Introduction
Use a force to override data that your logic either uses or produces.

• Test and debug your logic.

• Temporarily keep your process functioning when an input device has failed.

Use forces only as a temporary measure. They are not intended to be a permanent part of your application.

What is a sequential function chart?

A sequential function chart (SFC) is similar to a flowchart. It uses steps and transitions to perform specific operations
or actions. This example shows the elements of an SFC. The SFC continues on the following page.

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Chapter 1 Design a sequential function chart

A step represents a major function of your process. It contains

the actions that occur at a particular time, phase, or station.

An action is one of the functions that a step performs.

A transition is the TRUE or FALSE condition that tells the SFC

when to go to the next step.

A qualifier determines when an action starts and stops.

A simultaneous branch executes more than 1 step at the same

time.

JSR instruction calls a subroutine.

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 Chapter 1 Design a sequential function chart

A selection branch chooses between different execution paths.

A text box lets you add descriptive text or notes to your SFC.

A wire connects one element to another element anywhere on

the chart. This wire takes you to the conveyor step on the first
part of this SFC (previous figure).

A stop lets you stop and wait for a command to restart.

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Chapter 1 Design a sequential function chart

Follow these steps to design a sequential function chart.

1. Define the tasks on page 14

2. Choose how to execute the SFC on page 15
3. Define the steps of the process on page 16
4. Organize the steps on page 20
5. Add actions for each step on page 24
6. Describe each action in pseudocode on page 27
7. Choose a qualifier for an action on page 28
8. Define the transition conditions on page 29
9. Transition after a specified time on page 31
10. Turn off a device at the end of a step on page 34
11. Keep something on from step-to-step on page 39
12. End the SFC on page 43
13. Nest an SFC on page 45
14. Configure when to return to the OS/JSR on page 47
15. Pause or reset an SFC on page 47
16. Execution diagrams on page 48

Define the tasks

The first step in the development of an SFC is to separate the configuration and regulation of devices from the
commands to those devices. Logix 5000 controllers let you divide your project into one continuous task and multiple
periodic tasks and event tasks.

To define the tasks

1. Organize your project.

These functions Go into this type of task

◦ Configure and regulate devices Periodic task

◦ Command a device to a specific state SFC in the continuous task

◦ Sequence the execution of your process

2. For those functions that go in a periodic task, group the functions according to similar update rates. Create a
periodic task for each update rate.
For example, 2-state devices may require faster updates than PID loops. Use separate periodic tasks for
each.
In this example, a project uses two periodic tasks to regulate motors, valves, and temperature loops. An SFC
controls the process.

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 Chapter 1 Design a sequential function chart

Define the Tasks:

This task (periodic) uses Function
Block diagrams to turn on or off
motors and open or close valves. The
SFC in MainTask commands the state
for each device. The Function Block
diagrams set and maintain that state.

This task (periodic) uses Function

Block diagrams to configure and
regulate temperature loops. The
SFC in MainTask commands the
temperatures. The Function Block
diagrams set and maintain those
temperatures.

This task (continuous) executes the

sequential function chart (SFC). The
SFC commands the specific state
or temperature for each device or
temperature loop.

Choose how to execute the SFC

To execute an SFC, either configure it as the main routine for a program or call it as a subroutine.

If Then

• The SFC is the only routine in the program Configure the SFC as the main routine for the program.
• The SFC calls all the other routines of the program

• The program requires other routines to execute 1. Configure another routine as the main routine for the
independent of the SFC program.
• The SFC uses Boolean actions 2. Use the main routine to call the SFC as a subroutine.

If the SFC uses Boolean actions, then other logic must run independent of the SFC and monitor status bits of the SFC.

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Chapter 1 Design a sequential function chart

Define the steps of the process

A step represents a major function of your process. It contains the actions that occur at a particular time, phase, or
station.

A transition ends a step. The transition defines the physical conditions that must occur or change in order to go to
the next step.

Step guidelines
Follow these guidelines.

• Start with large steps and refine the steps in several passes.

• When you first open an SFC routine, it contains an initial step and transition. Use this step to initialize your
process.

The controller executes the initial step in these situations.

◦ After a project download when the controller goes into Run mode.
◦ When the controller transitions to Run mode and on power-up (if the SFC is configured for that).
◦ When the routine containing the chart is modified online and a reset is required, and the controller
transitions to or from Test mode.

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 Chapter 1 Design a sequential function chart

• To identify a step, look for a physical change in your system, such as new part that is in position, a
temperature that is reached, a preset time that is reached, or a recipe selection that occurs. The step is the
actions that take place before that change.
• Stop refining the steps when they are in meaningful increments. This is an example.

This organization of steps Is

produce_solution Probably too large

set_mode, close_outlet, set_temperature, open_inlet_a, Probably too small

close_inlet_a, set_timer, reset_temperature, open_outlet,
reset_mode

preset_tank, add_ingredient_a, cook, drain Probably about right

SFC_STEP structure
Each step uses a tag to provide information about the step. Access this information with either the Step Properties
dialog box or the Monitor Tags tab of the Tags window.

Then select or set this

If you want to Data type Details
member

Determine how long a T DINT When a step becomes active, the Timer (T) value
step has been active resets and then starts to count up in milliseconds.
(milliseconds) The Timer continues to count up until the step
goes inactive, regardless of the Preset (PRE)
value.

Set a flag when the step PRE DINT Enter the time in the Preset (PRE) member.
has been active for a When the Timer (T) reaches the Preset value, the
specific length of time Done (DN) bit turns on and stays on until the step
(milliseconds) becomes active again.
As an option, select Use Expression and click
Define to enter a numeric expression that
calculates the time at runtime.

DN BOOL When the Timer (T) reaches the Preset (PRE)

value, the Done (DN) bit turns on and stays on until
the step becomes active again.

Set a flag if a step did LimitLow DINT Enter the time in the Limit Low (LimitLow)
not execute long enough member (milliseconds).
• If the step goes inactive before the Timer (T)
reaches the LimitLow value, the AlarmLow bit
turns on.
• The AlarmLow bit stays on until you reset it.
• To use this alarm function, turn on (select)
the Alarm Enable (AlarmEn) bit.
As an option, enter a numeric expression that
calculates the time at runtime.

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Chapter 1 Design a sequential function chart

Then select or set this

If you want to Data type Details
member

AlarmEn BOOL To use the alarm bits, turn on (select) the Alarm
Enable (AlarmEn) bit.

AlarmLow BOOL If the step goes inactive before the Timer (T)
reaches the Limit Low value, the AlarmLow bit
turns on. The bit stays on until you reset it.
To use this alarm function, turn on (select) the
Alarm Enable (AlarmEn) bit.

Set a flag if a step is LimitHigh DINT Enter the time in the Limit High member
executing too long (milliseconds).
• If the Timer (T) reaches the LimitHigh value,
the AlarmHigh bit turns on.
• The AlarmHigh bit stays on until you reset it.
• To use this alarm function, turn on (select)
the Alarm Enable (AlarmEn) bit.
As an option, enter a numeric expression that
calculates the time at runtime.

AlarmEn BOOL To use the alarm bits, turn on (select) the Alarm
Enable (AlarmEn) bit.

AlarmHigh BOOL If the Timer (T) reaches the Limit High value, the
AlarmHigh bit turns on. The bit stays on until you
reset it.
To use this alarm function, turn on (select) the
Alarm Enable (AlarmEn) bit.

Do something while the X BOOL The X bit is on the entire time the step is active
step is active (including (executing).
first and last scan) Typically, we recommend that you use an action
with a N Non-Stored qualifier to accomplish this.
1
Do something one time FS BOOL The FS bit is on during the first scan of the step.
when the step becomes Typically, we recommend that you use an
active action with a P1 Pulse (Rising Edge) qualifier to
accomplish this.

Do something while the SA BOOL The SA bit is on when the step is active except
step is active, except on during the first and last scan of the step.
the first and last scan
1
Do something one time LS BOOL The LS bit is on during the last scan of the step.
on the last scan of the Use this bit only if on the Controller Properties
step dialog box, SFC Execution tab, you set the
Last Scan of Active Step to Don’t Scan or
Programmatic reset.

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 Chapter 1 Design a sequential function chart

Then select or set this

If you want to Data type Details
member

Typically, we recommend that you use an

action with a P0 Pulse (Falling Edge) qualifier to
accomplish this.

Determine the target Reset BOOL An SFC Reset (SFR) instruction resets the SFC to a
of an SFC Reset (SFR) step or stop that the instruction specifies.
instruction The Reset bit indicates the step or stop where the
SFC goes to begin executing again.
Once the SFC executes, the Reset bit clears.

Determine the TMax DINT Use this for diagnostic purposes. The controller
maximum time that a clears this value only when you set the Restart
step has been active Position to Restart at initial step and the
during any of its controller changes modes or experiences a power
executions cycle.

Determine if the Timer OV BOOL Use this for diagnostic purposes.

(T) value rolls over to a
negative value

Determine how many Count DINT This is not a count of scans of the step.
times a step has • The count increments each time the step
become active becomes active.
• It increments again only after the step goes
inactive and then active again.
• The count resets only if you configure the
SFC to restart at the initial step. With that
configuration, it resets when the controller
changes from program mode to run mode.

Use one tag for the Status DINT For this member Use this bit
various status bits of Reset 22
this step
AlarmHigh 23

AlarmLow 24

AlarmEn 25

OV 26

DN 27

LS 28

SA 29

FS 30

X 31

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Chapter 1 Design a sequential function chart

This diagram shows the relationship of the X, FS, SA, and LS bits.

Organize the steps

Once you define the steps of your process, organize them into sequences, simultaneous branches, selection
branches, or loops.

To Use this structure With these considerations

Execute 1 or more steps in sequence Sequence on page 22 The SFC checks the transition at the end
• One executes repeatedly of the step.
• Then the next executes repeatedly • If TRUE the SFC goes to the next
step.
• If FALSE, the SFC repeats the step.

• Choose between alternative steps or Selection branch on page 23 • It is OK for a path to have no steps
groups of steps depending on logic and only a transition. This lets the
conditions SFC skip the selection branch.
• Execute a step or steps or skip the • By default, the SFC checks from left
step or steps depending on logic to right the transitions that start
conditions each path. It takes the first TRUE
path.

1. The FS and LS bits are only active during a step’s execution. Once a step finishes executing the code within its actions, the FS
or the LS or both bits are reset. If you reference either of these bits in code outside of the SFC routine in a different part of the
project, the bits are always cleared (0).

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 Chapter 1 Design a sequential function chart

To Use this structure With these considerations

• If no transitions are TRUE, the SFC

repeats the previous step.
• The Logix Designer application lets
you change the order in which the
SFC checks the transitions.

Execute 2 or more steps at the same Simultaneous branch on page 23 • A single transition ends the branch.
time. All paths must finish before • The SFC checks the ending
continuing the SFC transition after the last step in each
path has executed at least once.
If the transition is FALSE, the SFC
repeats the previous step.

Loop back to a previous step Wire to a previous step on page 24 • Connect the wire to the step or
simultaneous branch to which you
want to go.
• Do not wire into, out of, or between a
simultaneous branch.

Here are some examples of SFC structures for different situations.

Example situation Example solution

Station 45 and 46 of an assembly line work on parts Simultaneous Branch

simultaneously. When both stations are done, the parts move
down 1 station.

Depending on the build code, a station either drills or polishes. Selection Branch

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Chapter 1 Design a sequential function chart

Example situation Example solution

To simplify my programming, I want to separate Simultaneous Branch

communications and block transfers from other control logic.
All occur at the same time.

In a heat treating area, the temperature ramps up at a specific Sequence

rate, maintains that temperature for a specific duration, and
then cools at a specific rate.

At station 12, the machine drills, taps, and bolts a part. The steps Sequence
occur one after the other.

Step 12 inspects a process for the correct mix of chemicals. Wire

• If OK, then continue with the remaining steps.
• If not OK, go to the top of the SFC and purge the system.

Sequence
A sequence is a group of steps that execute one after the other.

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 Chapter 1 Design a sequential function chart

Selection branch
A selection branch represents a choice between one path (step or group of steps) or another path (an OR structure).

• Only one path executes.

• By default the SFC checks the transitions from left to right.
◦ The SFC takes the first TRUE path.
◦ The Logix Designer application lets you change the order in which the SFC checks the transitions (see
Chapter 2, Program a Sequential Function Chart).

Simultaneous branch
A simultaneous branch represents paths (steps or group of steps) that occur at the same time (an AND structure).

• All paths execute.

• All paths must finish before continuing with the SFC.
• The SFC checks the transition after the last step of each path has executed at least once.

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Chapter 1 Design a sequential function chart

Wire to a previous step

You can also connect a step to a previous point in your SFC.

• Loop back and repeat steps

• Return to the beginning of the SFC and start over

Add actions for each step

Use actions to divide a step into the different functions that the step performs, such as commanding a motor, setting
the state of a valve, or placing a group of devices in a specific mode.

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 Chapter 1 Design a sequential function chart

How do you want to use the action?

There are two types of actions.

If you want to Then

• Execute structured text directly in the SFC Use a non-Boolean action

• Call a subroutine
• Use the automatic reset option to reset data upon leaving
a step

• Only set a bit and program other logic to monitor the bit to Use a Boolean action
determine when to execute.

Use a non-Boolean action

A non-Boolean action contains the logic for the action. It uses structured text to execute assignments and
instructions or call a subroutine.

With non-Boolean actions, you also have the option to postscan (automatically reset) the assignments and
instructions before leaving a step.

• During postscan the controller executes the assignments and instructions as if all conditions are FALSE.
• The controller postscans both embedded structured text and any subroutine that the action calls.

To automatically reset assignments and instructions, see Turn off a device at the end of a step.

To program a non-Boolean action, you have these options.

If you want to Then

• Execute your logic without additional routines Embed structured text.

• Use structured text assignments, constructs, and
instructions

When the S_Complete_the_Batch step is active, the

S_Open_Outlet action executes. The action sets the
Outlet.ProgCommand tag equal to 1, which opens the outlet
valve.

• Re-use logic in multiple steps Call a subroutine.

• Use another language to program the action, such as
ladder logic
• Nest an SFC
When the S_Complete_the_Batch step is active, the
S_Open_Outlet action executes. The action calls the Open_Outlet
routine.
Open_Outlet Routine

When the Open_Outlet routine executes, the OTE instruction

sets the Outlet.ProgCommand tag equal to 1, which opens the
outlet valve.

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You cannot reuse a non-Boolean action within the same SFC except to reset a stored action. Only one instance of a
specific non-Boolean action is permitted per SFC.

Use a Boolean action

A Boolean action contains no logic for the action. It simply sets a bit in its tag (SFC_ACTION structure). To do the
action, other logic must monitor the bit and execute when the bit is on.

With Boolean actions, you have to manually reset the assignments and instructions that are associated with the
action. Since there is no link between the action and the logic that performs the action, the automatic reset option
does not affect Boolean actions.

Example

When the S_Complete_the_Batch step is active, the S_Open_Outlet action executes. When the action is active, its Q bit turns on.

A ladder Logic routine monitors the Q bit (S_Open_Outlet.Q). When the Q bit is on, the JSR instruction executes and opens the outlet
valve.

You can reuse a Boolean action multiple times within the same SFC.

SFC_ACTION structure
Each action (non-Boolean and Boolean) uses a tag to provide information about the action. Access this information
via either the Action Properties dialog box or the Monitor Tags tab of the Tags window.

Then select or set this

If you want to Data type Details
member

Determine when the Q BOOL The status of the Q bit depends on whether the
action is active action is a Boolean action or non-Boolean action.

If the action is Then the Q bit is

Boolean On (1) the entire time

the action is active,
including the last scan
of the action

Non-Boolean On (1) while the action is

active but
Off (0) at the last scan
of the action

To use a bit to determine when an action is active,

use the Q bit.

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Then select or set this

If you want to Data type Details
member

A BOOL The A bit is on the entire time the action is active.

Determine how long an T DINT When an action becomes active, the Timer
action has been active (T) value resets and then starts to count up in
(milliseconds) milliseconds. The timer continues to count up until
the action goes inactive, regardless of the Preset
(PRE) value.

Use one of these PRE DINT Enter the time limit or delay in the Preset (PRE)
time-based qualifiers: L, member. The action starts or stops when the
SL, D, DS, SD Timer (T) reaches the Preset value.
As an option, enter a numeric expression that
calculates the time at runtime.

Determine how many Count DINT This is not a count of scans of the action.
times an action has • The count increments each time the action
become active becomes active.
• It increments again only after the action goes
inactive and then active again.
• The count resets only if you configure the
SFC to restart at the initial step. With that
configuration, it resets when the controller
changes from program mode to run mode.

Use one tag for the Status DINT For this member Use this bit
various status bits of Q 30
this action
A 31

Describe each action in pseudocode

To organize the logic for an action, first you describe the action in pseudocode.

• Use a series of short statements that describe what should happen.

• Use terms or symbols, such as: if, then, otherwise, until, and, or, =, >, <.
• Sequence the statements in the order that they should execute.
• If necessary, name the conditions to check first (the "when to act" first) and then the action to take second
(the "what to do" second).

Enter the pseudocode into the body of the action.

• Refine the pseudocode so it executes as structured text.

• Use the pseudocode to design your logic and leave the pseudocode as comments. Since all structured text
comments download to the controller, your pseudocode is always available as documentation for the action.

To convert the pseudocode to structured text comments, add these comment symbols.

For a comment Use one of these formats

On a single line //comment

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For a comment Use one of these formats

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

Choose a qualifier for an action

Each action (non-Boolean and Boolean) uses a qualifier to determine when it starts and stops.

The default qualifier is N Non-Stored. The action starts when the step is activated and stops when the step is
deactivated.

To change when an action starts or stops, assign a different qualifier.

If you want the action to And Then assign this qualifier Which means

Start when the step is Stop when the step is N Non-Stored

activated deactivated

Execute only once P1 Pulse (Rising Edge)

Stop before the step is L Time Limited

deactivated or when the step
is deactivated

Stay active until a Reset action S Stored

turns off this action

Stay active until a Reset action SL Stored and Time Limited

turns off this action
Or a specific time expires,
even if the step is deactivated

Start a specific time after the Stop when the step is D Time Delayed
step is activated and the step deactivated
is still active Stay active until a Reset action DS Delayed and Stored
turns off this action

Start a specific time after the Stay active until a Reset action SD Stored and Time Delayed
step is activated, even if the turns off this action
step is deactivated before this
time

Execute once when the step is Execute once when the step is P Pulse
activated deactivated

Start when the step is Execute only once P0 Pulse (Falling Edge)
deactivated

Turn off (reset) a stored action --------------------------------- R Reset

• S Stored ------------------->
• SL Stored and Time
Limited

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If you want the action to And Then assign this qualifier Which means

• DS Delayed and Stored

• SD Stored and Time
Delayed

Define the transition conditions

The transition is the physical conditions that must occur or change in order to go to the next step.

Transitions occur in these structures.

For this structure Make sure that

Sequence A transition is between each step.

Selection branch Transitions are inside the horizontal lines.

Simultaneous branch Transitions are outside the horizontal lines.

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Example
You want to complete these steps.
1. Turn on 2 compressors. When a compressor is on, the Device1State bit is on.
2. When both compressors are on, go to the next step.

Example
You want to complete these steps.
1. Package the product. When the product is in the package, the package_done bit turns on.
2. Pack the product either 8 per carton or 16 per carton.

Transition tag
Each transition uses a BOOL tag to represent the TRUE or FALSE state of the transition.

If the transition is The value is And

True 1 The SFC goes to the next step.

False 0 The SFC continues to execute the current

step.

How do you want to program the transition?

To program the transition, you have the following options.

If you want to Then

Enter the conditions as an expression in structured text. Use a BOOL expression

Enter the conditions as instructions in another routine. Call a subroutine

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If you want to Then

Use the same logic for multiple transitions.

Use a BOOL expression

The simplest way to program the transition is to enter the conditions as a BOOL expression in structured text. A BOOL
expression uses BOOL tags, relational operators, and logical operators to compare values or check if conditions are
TRUE or FALSE. For example, tag1>65.

Call a subroutine in a transition

To use a subroutine to control a transition, include an End Of Transition (EOT) instruction in the subroutine. The EOT
instruction returns the state of the conditions to the transition, as shown in this example.

- or -

Call a subroutine.

Check for the required conditions. When those conditions are

TRUE, turn on a BOOL tag.

Use an EOT instruction to set the state of the transition equal to

the value of the BOOL tag. When the BOOL tag is on (TRUE), the
transition is TRUE.

Transition after a specified time

Each step of the SFC includes a millisecond timer that runs whenever the step is active. Use the timer to for these
situations.

• Signal when the step has run for the required time and the SFC should go to the next step.
• Signal when the step has run too long and the SFC should go to an error step.

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The following shows the action of a timer and associated bits of a step.

Description

Step becomes active.

X bit turns on.
Timer (T) begins to increment.

Timer reaches the Preset (PRE) value of the step.

DN bit turns on.
Timer continues to increment.

Step becomes inactive.

X bit turns off.
Timer retains its value.
DN remains on.

Step becomes active.

X bit turns on.
Timer clears and then begins to increment.
DN bit turns off.

The following shows the action of the low and high alarms for a step.

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Description

AlarmEn is on. To use the low and high alarms turn this bit on.
Turn the bit on via the properties dialog box or the tag for the
step.

Step becomes active.

X bit turns on.
Timer (T) begins to increment.

Step becomes inactive.

X bit turns off.
Timer retains its value.
Since Timer is less than LimitLow, AlarmLow bit turns on.

Step becomes active.

X bit turns on.
Timer clears and then begins to increment.
AlarmLow stays on. (You have to manually turn it off.)

Timer reaches the LimitHigh value of the step.

AlarmHigh bit turns on.
Timer continues to increment.

Step becomes inactive.

X bit turns off.
Timer retains its value.
AlarmHigh stays on. (You have to manually turn it off.)

Example
Here is an example of the use of the Preset time of a step. The functional specification has these requirements.
1. Cook the ingredients in the tank for 20 seconds.
2. Empty the tank.

Example
Here is an example of the use of the high alarm of a step. The functional specification has these requirements.
1. Home 8 devices.
2. If all 8 devices are not home within 20 seconds, then shutdown the system.

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Turn off a device at the end of a step

When the SFC leaves a step, you have several options on how to turn off devices that the step turned on.

Programmatic reset Automatic reset

Use logic to clear data

Let the controller automatically clear data

Each option requires you to make these decisions.

• Choose a last scan option.

• Based on the last scan option, develop your logic so that the last scan returns data to the correct values.

Choose a last scan option

On the last scan of each step, you have these options. The option that you choose applies to all the steps in all the
SFCs in this controller.

If you want to And on the last scan of a step Then see

Control which data to clear Execute only P and P0 actions and use Use the don't scan option
them to clear the required data.

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If you want to And on the last scan of a step Then see

Execute all actions and use either of Use the programmatic reset option
these options to clear the required data.
• Status bits of the step or action to
condition logic
• P and P0 actions

Let the controller clear data ------------------------------------------ Use the automatic reset option
--->

The following table compares the different options for handling the last scan of a step.

Characteristic During the last scan of a step, this option does:

Don't scan Programmatic reset Automatic reset

Execution actions Only P and P0 actions execute. All actions execute according • P and P0 actions execute
They execute according to to their logic. according to their logic.
their logic. • All other actions execute
in Postscan mode.
• On the next scan of
the routine, the P and
P0 actions execute in
Postscan mode.

Retention of data values All data keeps its current All data keeps its current • Data reverts to its values
values. values. for postscan.
• Tags to the left of [:=]
assignments clear to
zero.

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Characteristic During the last scan of a step, this option does:

Method for clearing data Use P and P0 actions. Use either of these: Use either of these:
• Status bits of the step or • [:=] assignment
action to condition logic (non-retentive
• P and P0 actions assignment)
• Instructions that clear
their data during
postscan

Reset of a nested SFC A nested SFC remains at its A nested SFC remains at its For the Restart Position
current step. current step. property, if you choose the
Restart at initial step option,
then these occur:
• A nested SFC resets to its
initial step
• The X bit of a stop
element in a nested SFC
clears to zero

Use the Don’t Scan option

The default option for handling the last scan of a step is Don’t scan. With this option, all data keeps its current values
when the SFC leaves a step. This requires you to use additional assignments or instructions to clear any data that you
want to turn off at the end of a step.

To turn off a device at the end of a step using the Don't Scan option
1. Make sure that the Last Scan of Active Steps property is set to the Don’t scan option (default).
2. Use a P0 Pulse (Falling Edge) action to clear the required data. Make sure that the P0 action or actions are
last in the order of actions for the step.
During the last scan of the step, the Don’t scan option executes only P and P0 actions. The assignments and
instructions of the actions execute according to their logic conditions.
◦ The controller does not execute a postscan of assignments or instructions.
◦ When the SFC leaves the step, all data keeps its current values.
This example uses an action to turn on a conveyor at the start of a step. A different action turns off the
conveyor at the end of the step.

This action turns on the conveyor. When conveyor_state

turns on, the conveyor turns on.

Before the SFC leaves the step, the P0 action turns

off the conveyor. On the last scan of the step,
conveyor_state turns off. This turns off the conveyor.

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Use the programmatic reset option

An optional method to programmatically turn off (clear) devices at the end of a step is to execute all actions on the
last scan of the step. This lets you execute your normal logic as well as turn off (clear) devices at the end of a step.

1. In the Last Scan of Active Steps property, select the Programmatic reset option.
2. Clear the required data using any of these methods.
◦ To your normal logic, add logic that clears the required data. Use the LS bit of the step or the Q bit of
the action to condition the execution of the logic.
◦ Use a P0 Pulse (Falling Edge) action to clear the required data. Make sure that the P0 action or actions
are last in the order of actions for the step.

During the last scan of the step, the Programmatic reset option executes all assignments and instructions according
to logic conditions.

• The controller does not postscan the assignments or instructions.

• When the SFC leaves the step, all data keeps its current value.

This example uses a single action to turn on and off a conveyor and the LS Bit. The LS bit of the step conditions the
execution of the logic. See SFC STEP Structure.

Example

When the step is not on its last scan (conveyor_fwd.LS = 0), this
statement turns on conveyor_state. When conveyor_state turns
on, the conveyor turns on.

On the last scan of the step (conveyor_fwd.LS =1), this

statement turns off conveyor_state. When conveyor_state turns
off, the conveyor turns off.

For an action that uses one of the stored qualifiers, use the Q bit of the action to condition your logic.

Example

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When the action is not on its last scan (conveyor_start.Q =1), this
statement turns on conveyor_state. When conveyor_state turns
on, the conveyor turns on.

On the last scan of the action (conveyor_start.Q =0), this

statement turns off conveyor_state. When conveyor_state turns
off, the conveyor turns off.

You can also use a P0 Pulse (Falling Edge) action to clear data. This example uses an action to turn on a conveyor at
the start of a step. A different action turns off the conveyor at the end of the step.

Example

This action turns on the conveyor. When conveyor_state turns

on, the conveyor turns on.

Before the SFC leaves the step, the P0 action turns off the
conveyor. On the last scan of the step, conveyor_state turns off.
This turns off the conveyor.

Use the automatic reset option

Automatic reset provides a system-defined cleanup of actions (known as postscan) when they are shut down when
any of the following occur.

• transition out of the associated step

• reset of a stored action
• reset of an SFC routine

Postscan is similar to prescan in that most instructions are executed as if they are FALSE. Some instructions have
specific postscan behavior.

• In RLL, OTE instructions are turned off and non-retentive timers are reset.
• In structured text, the destination of a non-retentive assignment "[:=]" is cleared.
• A JSR instruction invokes its subroutine but parameters are not passed and the logic in the subroutine is
executed in postscan mode.
• An Add-On Instruction executes its logic routine in postscan mode and then executes its postscan logic in
normal mode (if a postscan routine is configured).
• Any nested SFC (SFC that an action calls as a subroutine) is reset.

IMPORTANT: The postscan of an action actually occurs when the action goes from active to
inactive. Depending on the qualifier of the action, the postscan could occur before or after
the last scan of the step.

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As a general rule, the postscan executes instructions as if all conditions are FALSE. For example, the Output Energize
(OTE) instruction clears its data during postscan.

To automatically turn off, or clear, devices at the end of a step using the
automatic reset option
1. In the Last Scan of Active Steps property, select the Automatic reset option.
2. To turn off a device at the end of the step, control the state of the device with an assignment or instruction.
◦ [:=] assignment (non-retentive assignment)
◦ Output Energize (OTE) instruction in a subroutine
Some instructions do not follow the general rule during postscan. For a description of how a specific
instruction executes during postscan, see these publications.
◦ Logix 5000 Controllers General Instructions Reference Manual, publication 1756-RM003
◦ Advanced Process Control and Drives and Phase Sequence Instruction Reference Manual, publication 1756-
RM006
◦ Logix 5000 Motion Controllers Instructions Reference Manual, MOTION-RM002
Here is an example that uses a non-retentive assignment to control a conveyor. It turns on a conveyor
at the start of a step and automatically turns off the conveyor when the step is done.

Automatically Clear Data

▪ This action turns on the conveyor. When conveyor_state turns on, the conveyor turns on.
▪ When the SFC leaves the step, conveyor_state turns off. This turns off the conveyor.

Keep something on from step-to-step

How do you want to control the device?

To provide bumpless control of a device during more than one time or phase (step), do one of the following options.

Option Example

Use a simultaneous branch on page 40

Make a separate step that controls the device.

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Option Example

Store and reset an action on page 41

Note the step that turns on the device and the step that turns
off the device.
Later, define a Stored and Reset Action pair to control the
device.

Use one large step on page 42

Use one large step that contains all the actions that occur while
the device is on.

Use a simultaneous branch

A simple way to control a device or devices during one or more steps is to create a separate step for the devices.
Then use a simultaneous branch to execute the step during the rest of the process.

Example
A paint operation completes these actions.
1. Transfers the product into the paint shop.
2. Paints the product using 3 separate paint guns.
3. Cleans the guns.
4. Transfers the product to the paint ovens.

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During the entire process, the system must control the shop fans.

Store and reset an action

Typically, an action turns off (stops executing) when the SFC goes to the next step. To keep a device on from step to
step without a bump, store the action that controls the device.

To store and reset an action

1. In the step that turns on the device, assign a stored qualifier to the action that controls the device.
2. In the step that turns off the device, use a Reset action.
The following figure shows the use of a stored action.

Step that starts the action Store the action name that you want to
execute for more than one step

◦ (more steps)
▪ The Reset action only turns
off the stored action. It
does not automatically
turn off the devices of
the action. To turn off the
device, follow the Reset
action with another action
that turns off the device. Or
use the Automatic reset
option described in Use the
automatic reset option.
▪ Before the SFC reaches a
stop element, reset any
stored actions that you

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do not want to execute at

the stop. An active stored
action remains active even
if the SFC reaches a stop.
▪ Use caution when you jump
in between a step that
stores an action and a step
that resets the action. Once
you reset an action, it only
starts when you execute the
step that stores the action.
In this example, step_1 –
step_4 require a fan to be
on. At the end of step_4,
the fan is reset (turned off).
When the SFC jumps back to
step_3, the fan remains off.

To turn the fan back on, the

SFC has to jump back to
step_1.

Step that stops the action Reset the same action name as the
stored action

When the SFC leaves the step that stores the action, the Logix Designer application continues to show the stored
action as active. By default, a green border displays around the action. This lets you know that the SFC is executing
the logic of that action.

When using a stored action, follow these guidelines.

Use one large step

If you use one large step for multiple functions, then use additional logic to sequence the functions. One option is to
nest an SFC within the large step.

In this example, a step turns on a fan and then calls another SFC. The nested SFC sequences the remaining functions
of the step. The fan stays on throughout the steps of the nested SFC.

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Use a Large Step

This action turns on a fan.

• fan.ProgProgReq lets the SFC command the state of the
fan.
• fan.ProgCommand turns on the fan.

This action calls another SFC. The SFC sequences the remaining
functions of the step.

End the SFC

Once an SFC completes its last step, it does not automatically restart at the first step. You must tell the SFC what to
do when it finishes the last step.

To Do this

Automatically loop back to an earlier step Wire the last transition to the top of the step to which you want
to go.

Stop and wait for a command to restart Use a stop element.

Use a stop element

Use the stop element to stop the execution of an entire SFC or of a path of a simultaneous branch and wait to restart.

When an SFC reaches a stop element, the following actions occur.

• The X bit of the stop element turns on. This signals that the SFC is at the stop element.
• Stored actions remain active.
• Execution stops for part or all of the SFC.

If the stop element is at the end of a Then

◦ Sequence The entire SFC stops

◦ Selection branch

◦ Path within a simultaneous branch Only that path stops while the rest of the SFC continues to
execute.

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Example
When the SFC reaches last_step and process_done is TRUE, the
execution of the SFC stops.

Restart (reset) the SFC

Once at the stop element, you have several options to restart the SFC.

And the Last Scan of the Active Steps

If the SFC is Then
option is

Nested (i.e., another SFC calls this SFC as • Automatic reset At the end of the step that calls the
a subroutine) nested SFC, the nested SFC automatically
resets.
• The nested SFC resets to the initial
step.
• The X bit of the stop element in the
nested SFC clears to zero.

• Programmatic reset 1. Use an SFC Reset (SFR) instruction to

• Don’t scan restart the SFC at the required step.
2. Use logic to clear the X bit of the
stop element.

Not nested (i.e., no SFC calls this SFC as a -------------------------------> 1. Use an SFC Reset (SFR) instruction to
subroutine) restart the SFC at the required step.
2. Use logic to clear the X bit of the
stop element.

Example
This example shows the use of the SFC Reset (SFR) instruction to restart the SFC and clear the X bit of the stop
element (see Restart (reset) the SFC).

If SFC_a_stop.X = on (SFC_a is at the stop) and SFC_a_reset = on (time to reset the SFC) then for one scan (ons[ 0 ] = on):
Reset SFC_a to SFC_a_Step_1
SFC_a_stop.X = 0

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SFC_STOP structure
Each stop uses a tag to provide information about the stop element.

Then check or set this

If you want to Data type Details
member

Determine when the SFC X BOOL • When the SFC reaches the stop, the X bit
is at the stop turns on.
• The X bit clears if you configure the SFCs to
restart at the initial step and the controller
changes from program to run mode.
• In a nested SFC, the X bit also clears if you
configure the SFCs for automatic reset and
the SFC leaves the step that calls the nested
SFC.

Determine the target Reset BOOL An SFC Reset (SFR) instruction resets the SFC to a
of an SFC Reset (SFR) step or stop that the instruction specifies.
instruction • The Reset bit indicates to which step or stop
the SFC will go to begin executing again.
• Once the SFC executes, the Reset bit clears.

Determine how many Count DINT This is not a count of scans of the stop.
times a stop has • The count increments each time the stop
become active becomes active.
• It increments again only after the stop goes
inactive and then active again.
• The count resets only if you configure the
SFC to restart at the initial step. With that
configuration, it resets when the controller
changes from program mode to run mode.

Use one tag for the Status DINT For this member Use this bit
various status bits of Reset 22
this stop
X 31

Nest an SFC
One method for organizing your project is to create one SFC that provides a high-level view of your process. Each step
of that SFC calls another SFC that performs the detailed procedures of the step (nested SFC).

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This figure shows one way to nest an SFC. In this method, the last scan option of the SFC is configured for either
Programmatic reset or Don’t Scan. If you configure the SFC for Automatic reset, then step 1 in is unnecessary.

Reset the nested SFC.

• The SFR instruction restarts SFC_b at SFC_b_Step_1. Each
time SFC_a leaves this step and then returns, you have to
reset SFC_b.
• The action also clears the X bit of the stop element.

Call SFC_b.

Stop SFC_b. This sets the X bit of the stop element.

Use the X bit of the stop element to signal that SFC_b is done
and it is time to go to the next step.

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Pass parameters
To pass parameters to or from an SFC, place a Subroutine/Return element in the SFC.

Configure when to return to the OS/JSR

By default, an SFC executes a step or group of simultaneous steps and then returns to the operating system (OS) or
the calling routine (JSR).

You have the option of letting the SFC execute until it reaches a false transition. If several transitions are TRUE at the
same time, this option reduces the time to get to the correct step.

Select the Execute until FALSE transition option only when either of these are true:

• You do not have to update JSR parameters before each step. Parameters update only when the SFC returns to
the JSR.
• A FALSE transition occurs within the watchdog timer for the task. If the time that it takes to return to a JSR
and complete the rest of the task is greater than the watchdog timer, a major fault occurs.

Pause or reset an SFC

Two optional instructions are available that give you further control over the execution of your SFC.

If you want to Then use this instruction

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Pause an SFC Pause SFC (SFP)

Reset an SFC to a specific step or stop Reset SFC (SFR)

Both instructions are available in the ladder logic and structured text programming languages.

Execution diagrams
The following diagrams show the execution of an SFC with different organizations of steps or different selections of
execution options.

• Execution of a sequence
• Execution of a simultaneous branch
• Execution of a selection branch
• When parameters enter and exit an SFC
• Options for execution control

The following diagram shows the execution of a sequence.

This… …executes like this

The following diagram shows the execution of a simultaneous branch.

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This… …executes like this

The following diagram shows the execution of a selection branch.

This… …executes like this

The following diagram shows when parameters enter and exit an SFC

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The following diagram shows options for execution control.

This SFC…

…executes like this

Execute current active steps only Execute until FALSE transition

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Program a sequential function chart

Introduction
Use a force to override data that your logic either uses or produces.

• Test and debug your logic.

• Temporarily keep your process functioning when an input device has failed.

Use forces only as a temporary measure. They are not intended to be a permanent part of your application.

Add and manually connect elements

Use these steps to add and manually connect element.

To add and manually connect elements

1. On the SFC toolbar, click the button for the item that you want to add.
2. Drag the element to the required location on the SFC.

3. To wire (connect) two elements together, click a pin on one of the elements and then click the pin on

the other element . A green dot shows a valid connection point.

IMPORTANT: Use caution when copying and pasting components between different versions
of the Logix Designer application. The application only supports pasting to the same version
or newer. Pasting to a prior version of the application is not supported. When pasting to a
prior version, the paste action may succeed but the results may not be as intended.

Add and automatically connect elements

Select an existing element and add a new element to easily join those elements.

To add and automatically connect elements

1. Select the element to which you want to connect a new element.
2. With the element still selected, select the toolbar button for the next, new element.

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Drag elements
From the SFC toolbar, drag the button for the required element to the correct connection point on the SFC. A green
dot shows a valid connection point.

Create a simultaneous branch

Use the instructions in this section to create a simultaneous branch.

Start a simultaneous branch

Follow these instructions to start a simultaneous branch.

1. On the SFC toolbar, click the button. Drag the new branch to the correct location.
2. To add a path to the branch, click the first step of the path that is to the left of where you want to add the

new path. Click .

3. To wire the simultaneous branch to the preceding transition, click the bottom pin of the transition and

then click the horizontal line of the branch . A green dot shows a valid connection point.

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End a simultaneous branch

To end a simultaneous branch

1. Select the last step of each path in the branch. To select the steps, do either of these actions.
◦ Drag the pointer around the steps that you want to select.
◦ Click the first step. Hold down Shift while clicking the rest of the steps that you want to select.

2. On the SFC toolbar, click .

3. Add the transition that follows the simultaneous branch.

4. To wire the simultaneous branch to the transition, click the top pin of the transition and then click the

horizontal line of the branch . A green dot shows a valid connection point.

Create a selection branch

Follow the instructions in this section to create a selection branch.

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Start a selection branch

1. On the SFC toolbar, click the button. Then drag the new branch to the correct location.
2. To add a path to the branch, click the first transition of the path that is to the left of where you want to add

the new path. Click .

3. To wire the selection branch to the preceding step, click the bottom pin of the step and then click the

horizontal line of the branch . A green dot shows a valid connection point.

End a selection branch

To end a selection branch

1. Select the last transition of each path in the branch. To select the transitions, do either of these actions.
◦ Drag the pointer around the transitions that you want to select.
◦ Click the first transition. Hold down Shift while clicking the rest of the transitions that you want to
select.

2. On the SFC toolbar, click .

3. Add the step that follows the selection branch.

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4. To wire the selection branch to the step:

a. Click the top pin of the step .

b. Click the horizontal line of the branch .

A green dot shows a valid connection point.

Set the priorities of a selection branch

By default, the SFC checks the transitions that start a selection branch from left to right. If you want to check a
different transition first, assign a priority to each path of the selection branch. For example, it is a good practice to
check for error conditions first. Then check for normal conditions.

To set the priorities of a selection branch

1. Right-click the horizontal line that starts the branch and then click Set Sequence Priorities.
2. Clear the Use default priorities check box and select a transition.

Use the Move buttons to raise or lower the priority of the transition.
3. When all the transitions have the correct priority, click OK.
When you clear the Use default priorities check box, numbers show the priority of each transition.

Connect a wire to the step

You may have to reposition a wire after you connect it to a step. This example shows how to go to Step_001 from
Tran_003.

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NOTE:

Click the lower pin of the transition that signals the jump.

Then click the top pin of the step to which you want to go. A
green dot shows a valid connection point.

To make the jump easier to read, drag its horizontal bar

above the step to which the jump goes. You may also have to
reposition some of the SFC elements.

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Hide a wire
If a wire gets in the way of other parts of your SFC, hide the wire to make the SFC easier to read. To hide a wire, right-
click the wire and select Hide Wire.

To see the SFC element to which the wire goes, click the grid location on the wire.

NOTE: Location to which the wire goes

Configure a step
Follow the instructions in this section to configure a step.

Assign the preset time for a step

Use these steps to assign the present time for a step.

To assign the present time for a step

1. Click the button of the step.

2. In the Step Properties dialog box, on the General tab, in the Preset box, enter the time for the step, in
milliseconds.
3. Click OK.

When the step is active for the preset time (Timer = Preset), the DN bit of the step turns on.

To calculate the preset time for a step at runtime, see Use an expression to calculate a time.

Configure alarms for a step

Follow these steps to turn on an alarm if a step executes too long or not long enough.

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To configure alarms for a step

1. Click the button of the step.
2. In the Step Properties dialog box, on the General tab, select the Alarm Enable check box.

3. Enter the time for the high alarm (Limit High) and low alarm (Limit Low), in milliseconds.
4. Click OK.

Use an expression to calculate a time

To calculate a time based on tags in your project, enter the time as a numeric expression. You can use an expression
to calculate these values.

• Preset
• LimitHigh
• LimitLow

To use an expression to calculate a time

1. Click the button of the step.
2. In the Step Properties dialog box, on the General tab, select the Use Expression check box.

3. Click Define and enter an expression.

Browse for a tag

Choose a function

Choose an operator

Create a tag

4. Enter a numeric expression that defines the time. Use the buttons on the right side of the dialog box to help
you complete the expression.

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5. Click OK.
6. To close the Step Properties dialog box, click OK.

Program a transition

Enter a BOOL expression

The simplest way to program the transition is to enter the conditions as a BOOL expression in structured text.

To enter a BOOL expression

1. Double-click the text area of the transition.

2. Type the BOOL expression that determines when the transition is TRUE or FALSE.
3. To close the text entry window, press Ctrl+Enter.

This example shows three transitions that use a BOOL expression (see Enter a BOOL expression).

Tag name of the transition.

BOOL expression that controls when the transition is TRUE

or FALSE

Call a subroutine when programming a transition

Use the Set JSR option to call a subroutine when you program a transition.

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To call a subroutine when programming a transition

1. In the SFC, right-click the transition and then click Set JSR.
2. In the Routine box, select the routine to call.

3. Click OK.

Add an action
To add an action to a step, right-click the step in which the action executes and then click Add Action.

Configure an action
Follow the instructions in this section to configure an action.

Change the qualifier of an action

A qualifier determines when an action starts and stops. The default qualifier is N Non-Stored. The action starts when
the step is activated and stops when the step is deactivated.

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To change the qualifier of an action

1. Click the button in the action.
2. In the Action Properties dialog box, on the General tab, select the qualifier for the action.

If you chose a timed qualifier, type the time limit or delay for the action, in milliseconds. These are the timed
qualifiers.
◦ L Time Limited
◦ SL Stored and Time Limited
◦ D Time Delayed
◦ DS Delayed and Stored
◦ SD Stored and Time Delayed
3. Click OK.

Calculate a preset time at runtime

To calculate a preset value based on tags in your project, enter the value as a numeric expression.

1. Click the button of the action.

2. Check the Use Expression check box.

3. Click Define and enter an expression.

Browse for a tag

Choose a function

Choose an operator

Create a tag

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4. Enter a numeric expression that defines the preset time. Use the buttons on the right side of the dialog box
to help you complete the expression.
5. Click OK.
6. To close the Action Properties dialog box, click OK.

Mark an action as a BOOLean action

Use a Boolean action to only set a bit when the action executes.

Mark an action as a Boolean action

1. Click the button in the action.
2. In the Action Properties dialog box, select the Boolean check box.

3. Click OK.

Program an action
You can use structured text or a subroutine to program an action.

Enter structured text

The easiest way to program an action is to write the logic as structured text within the body of the action. When the
action turns on, the controller executes the structured text.

To enter structured text

1. Double-click the text area of the action.

2. Type the required structured text.

3. To close the text entry window, press Ctrl+Enter.

Call a subroutine in an action

Use a Jump to Subroutine (JSR) instruction to execute a subroutine when the action is active.

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To call a subroutine in an action

1. In the SFC, right-click the action and then click Set JSR.
2. In the Routine box, select the routine to call.

3. To pass a parameter to the routine, click an empty Input Parameters box. Click the down arrow and then
click the tag that contains the parameter.
4. To receive a parameter from the routine, click an empty Return Parameters box. Click the down arrow and
then click the tag in which to store the parameter from the routine.
5. Click OK.

Assign the execution order of actions

Actions execute in the order in which they appear.

When Step_003 is active, its actions execute in this order.

1. Action_000
2. Action_001
3. Action_002

To change the order in which an action executes, drag the action to the correct location in the sequence. A green
bar shows a valid placement location. The following shows dragging Action_002 from after Action_001 to before
Action_001.

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Document an SFC
You can document these SFC components.

To document this And you want to Do this

General information about the SFC -----------------------------------------> Add a text box on page 67

Step -----------------------------------------> Add a text box on page 67

-or-
Add a tag description on page 67

Transition • Download the documentation to the Add structured text comments on page
controller 67

• Have the option of showing or hiding Add a text box on page 67

the documentation -or-
• Position the documentation Add a tag description on page 67
anywhere in the SFC

Action Download the documentation to the Add structured text comments on page
controller 67

Stop -----------------------------------------> Add a text box on page 67

Other element (such as a selection -----------------------------------------> -or-

branch) Add a tag description on page 67

Language switching
With version 17 and later of the application, you have the option to display project documentation, such as tag
descriptions and rung comments for any supported localized language. You can store project documentation for
multiple languages in a single project file rather than in language-specific project files. You define all the localized
languages that the project supports and set the current, default, and optional custom localized language. The default
language is used if the current language's content is blank for a particular component of the project. However,
you can use a custom language to tailor documentation to a specific type of project file user. Enter the localized
descriptions in your project, either when programming in that language or by using the import/export utility to
translate the documentation off-line and then import it back into the project. Once you enable language switching,
you can dynamically switch between languages as you use the software.

Project documentation that supports multiple translations includes these variables:

• Component descriptions in tags, routines, programs, Equipment Phases, Equipment Sequences, user-defined
data types, and Add-On Instructions
• Engineering units and state identifiers added to tags, user-defined data types, or Add-On Instructions
• Trends
• Controllers
• Alarm Messages (in configuration of ALARM_ANALOG and ALARM_DIGITAL tags)
• Tasks
• Property descriptions for module in the Controller Organizer • Rung comments, SFC text boxes, and FBD text
boxes

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For more information on enabling a project to support multiple translations of project documentation, see the Logix
Designer online help.

Add structured text comments

Comments embedded in the structured text section of an action are downloaded into controller memory and are
available for upload.

1. Double-click the text area of the action.

2. Type the comments.

To add a comment Use one of these formats

On a single line //comment

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

/*comment*/

Within a line of structured text (*comment*)

/*comment*/

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

3. To close the text entry window, press Ctrl+Enter.

Add a tag description

Add tag descriptions to help identify each tag's purpose.

To add a tag description

1. Select the button of the element.
2. In the element Properties dialog box, Select the Tag tab and type the description for the element.

3. Select OK.
4. Drag the description box to the correct location on the SFC.

Add a text box

A text box lets you add notes that clarify the function of an SFC element (step, transition, or stop). Text boxes are only
stored in the offline, ACD project file. Text boxes are not downloaded into controller memory.

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You can also use a text box to capture information that you can refer to later.

To add a text box

1. Click the Text Box icon .
A text box appears.

2. Drag the text box to a location near the element to which it applies.
3. Double-click the text box and type the note. Then press Ctrl+Enter.
4. As you move the element on the SFC, what do you want the text box to do?

If you the text box to Then

Stay in the same spot Stop. You are done.

Move with the element to which it applies Go to step 5.

5. Click the pin symbol in the text box and then click the SFC element to which you want to attach the text box. A
green dot shows a valid connection point.

Show or hide text boxes or tag descriptions

You have the option of showing or hiding both text boxes and tag descriptions. If you select to show descriptions, the
SFC window only shows the descriptions for steps, transitions, and stops (not actions).

1. From the Tools menu, select Options.

2. Under SFC Editor, select the Display category.

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1. Select the check boxes for the features you want to appear on SFC windows.

Hide an individual tag description

Follow these steps to hide the description of a specific element while showing other descriptions.

To hide an individual tag description

1. Click the button of the element whose description you want to hide.
2. Select the Never display description in routine check box.

3. Click OK.

Configure the execution of the SFC

The SFC Execution tab of the controller properties lets you configure these decisions.

• What to do when a transition is TRUE.

• Where to start after a transition to the Run mode or recovery from a power loss.
• What to do on the last scan of a step.
1. On the Online toolbar, click the controller properties button.

2. Select the SFC Execution tab.

3. Choose one of the following.
◦ Whether or not to return to the OS/JSR if a transition is TRUE (Execution Control).
◦ Where to restart the SFC (Restart Position).
The restart position applies when the controller loses power or leaves the Run or Remote Run mode.

If you want to restart at the Select

Last step that was running Restart at most recently executed step

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If you want to restart at the Select

Initial step Restart at initial step

◦ What to do on the last scan of a step (Last Scan of Active Steps).

The restart position does not apply for major faults. After you clear a major fault, the SFC always restarts at the
initial step.

1. Click OK.

Verify the routine

As you program your routine, periodically verify your work.

To verify the routine

1. In the main toolbar of the application window, click .
2. Follow these steps if any errors are listed in the Output window.
a. To go to the first error or warning, press F4.
b. Correct the error according to the description in the in the Output window on the Search Results tab.
c. Repeat step 1.
3. To close the Results window, press Alt+1.

To check your SFC, you can use either of these options.

• Force transitions
• Step through the SFC

See the chapter on Force steps.

Edit an SFC online

Firmware revision 13 added support for editing SFCs online. When you transition the controller to test or un-test edits,
the controller resets the SFC and starts execution at the initial step. Keep these guidelines in mind if you edit an SFC
online.

• Time when you test or un-test edits to coincide with the SFC execution of the initial step.
• Place structured text logic in subroutines to minimize the impact of online edits.
• Use an SFR instruction to programmatically shift SFC execution to the correct step.

Maintain active SFC step

As of firmware revision 18, the following online edits to an SFC no longer reset the SFC to the initial step.

• Modify structured text in actions and transitions

• Physically move steps, actions, and transitions on SFC sheets without changing the wiring
• Add, delete, or modify text and description boxes
• Modify indicator tags
• Add, delete or modify an SBR/RET
• Add, delete or modify any step or action expression

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Force steps

Introduction
Use a force to override data that your logic either uses or produces.

• Test and debug your logic.

• Temporarily keep your process functioning when an input device has failed.

Use forces only as a temporary measure. They are not intended to be a permanent part of your application.

Precautions
Make sure you understand the following before using forces.

ATTENTION: Forcing can cause unexpected machine motion that could injure personnel. Before you
use a force, determine how the force will affect your machine or process and keep personnel away
from the machine area.
• Enabling SFC forces causes your machine or process to go to a different state or phase.
• Removing forces may still leave forces in the enabled state.
• If forces are enabled and you install a force, the new force immediately takes effect.

Enable forces
For a force to take effect, you enable forces. You can only enable and disable forces at the controller level.

To enable forces
• You can enable I/O forces and SFC forces separately or at the same time.
• You cannot enable or disable forces for a specific module, tag collection, or tag element.

IMPORTANT: If you download a project that has forces enabled, the programming software
prompts you to enable or disable forces after the download completes.

When forces are in effect (enabled), a and TRUE or FALSE appears next to the forced element.

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Disable or remove a force

To stop the effect of a force and let your project execute as programmed, disable or remove the force.

• You can disable or remove I/O and SFC forces at the same time or separately.
• Removing a force on an alias tag also removes the force on the base tag.

ATTENTION: Changes to forces can cause unexpected machine motion that could
injure personnel. Before you disable or remove forces, determine how the change will affect
your machine or process and keep personnel away from the machine area.

Check force status

Before you use a force, determine the status of forces for the controller.

To determine the status of Use any of the following

I/O forces • Online toolbar

• FORCE LED
• GSV instruction

SFC forces Online Toolbar

The Online toolbar shows the status of forces. It shows the status of I/O forces and SFC forces separately.

Forces tab status Means

Enabled • If the project contains any forces of this type, they are
overriding your logic.
• If you add a force of this type, the new force immediately
takes effect

Disabled Forces of this type are inactive. If the project contains any
forces of this type, they are not overriding your logic.

Installed At least one force of this type exists in the project.

None Installed No forces of this type exist in the project.

Force LED
If your controller has a FORCE LED, use the LED to determine the status of any I/O forces.

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IMPORTANT: The FORCE LED shows only the status of I/O forces. It does not show the status of SFC
forces.

If the FORCE LED is: Then:

Off • No tags contain force values.

• I/O forces are inactive (disabled).

Flashing • At least one tag contains a force value.

• I/O forces are inactive (disabled).

Solid • I/O forces are active (enabled).

• Force values may or may not exist.

GSV instruction
This example shows how to use a GSV instruction to get the status of forces.

IMPORTANT: The ForceStatus attribute shows only the status of I/O forces. It does not show the
status of SFC forces.

where:

Force_Status is a DINT tag.

To determine if Examine this bit For this value

forces are installed 0 1

no forces are installed 0 0

forces are enabled 1 1

forces are disabled 1 0

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Step through a transition or a force of a path

To override a false transition one time and go from an active step to the next step, use the Step option. Through

• You do not have to add, enable, disable, or remove forces.

• The next time the SFC reaches the transition, it executes according to the conditions of the transition.

This option also lets you override one time the false force of a simultaneous path. When you step through the force,
the SFC executes the steps of the path.

To step through the transition of an active step or a force of a simultaneous path

1. Open the SFC routine.
2. Right-click the transition or the path that is forced and then select Step Through.

When to use an SFC force

To override the logic of an SFC, you have these options.

If you want to Then

Override the conditions of a transition each time the SFC Force a transition.
reaches the transition

Prevent the execution of one or more paths of a simultaneous Force a simultaneous path.
branch

Force a transition
To override the conditions of a transition through repeated executions of an SFC, force the transition. The force
remains until you remove it or disable forces.

If you want to Then

Prevent the SFC from going to the next step Force the transition FALSE.

Cause the SFC go to the next step regardless of transition Force the transition FALSE.
conditions

If you force a transition within a simultaneous branch to be FALSE, the SFC stays in the simultaneous branch as long
as the force is active (installed and enabled).

• To leave a simultaneous branch, the last step of each path must execute at least one time and the transition
below the branch must be TRUE.
• Forcing a transition FALSE prevents the SFC from reaching the last step of a path.

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• When you remove or disable the force, the SFC can execute the rest of the steps in the path.

For example, to exit this branch, the

SFC must be able to complete these
actions.
◦ Execute Step_011 at least once
◦ Get past Tran_011 and execute
Step_012 at least once
◦ Determine that Tran_012 is TRUE

Force a simultaneous path

To prevent the execution of a path of a simultaneous branch, force the path FALSE. When the SFC reaches the branch,
it executes only the un-forced paths.

This path executes. This path does not execute.

If you force a path of a simultaneous branch to be FALSE, the SFC stays in the simultaneous branch as long as the
force is active (installed and enabled).

• To leave a simultaneous branch, the last step of each path must execute at least one time and the transition
below the branch must be TRUE.
• Forcing a path FALSE prevents the SFC from entering a path and executing its steps.
• When you remove or disable the force, the SFC can execute the steps in the path.

Add an SFC force

To override the logic of an SFC, use an SFC force.

ATTENTION: Forcing can cause unexpected machine motion that could injure personnel. Before you
use a force, determine how the force will affect your machine or process and keep personnel away
from the machine area.
• Enabling SFC forces causes your machine or process to go to a different state or phase.
• If forces are enabled and you install a force, the new force immediately takes effect.

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To add an SFC force

1. What is the state of the SFC Forces indicator?

If Then

Off No SFC forces currently exist.

Flashing No SFC forces are active. But at least one force already
exists in your project. When you enable SFC forces, all
existing SFC forces will also take effect.

Solid SFC forces are enabled (active). When you install (add) a
force, it immediately takes effect.

2. Open the SFC routine.

3. Right-click the transition or start of a simultaneous path that you want to force, and then click either Force
TRUE (only for a transition) or Force. FALSE
4. Are SFC forces enabled (See step 1)?

If Then

No From the Logic menu, choose SFC Forcing >

Enable All SFC Forces. Then choose Yes to confirm.

Yes Stop.

Remove or disable forces

Make sure you understand the following before using forces.

ATTENTION: Changes to forces can cause unexpected machine motion that could injure personnel.
Before you disable or remove forces, determine how the change will affect your machine or process
and keep personnel away from the machine area.

Disable all SFC forces

From the Logic menu, click SFC Forcing and then click Disable. Then All SFC Forces click Yes to confirm.

Remove all SFC forces

From the Logic menu, click SFC Forcing and then click Remove. Then All SFC Forces click Yes to confirm.

76 Publication 1756-PM006L-EN-P - September 2024 Rockwell Automation, Inc.

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Publication 1756-PM006L-EN-P - September 2024

Supersedes Publication 1756-PM006K-EN-P - March 2022
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