ST_Programming_en-US
ST_Programming_en-US
Fundamental safety
instructions 1
Introduction 2
SIMOTION
Getting Started with ST 3
SIMOTION SCOUT
SIMOTION ST Structured Text ST Fundamentals 4
Functions, Function Blocks,
and Programs 5
Programming and Operating Manual
Integration of ST in
SIMOTION 6
Error Sources and Program
Debugging 7
Appendix A
04/2014
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified
personnel are those who, based on their training and experience, are capable of identifying risks and avoiding
potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in
this publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Scope
This document is part of the SIMOTION Programming documentation package.
This document applies to SIMOTION SCOUT, the engineering system of the SIMOTION
product family, V4.4 in conjunction with:
● A SIMOTION device with the following versions of a SIMOTION Kernel:
– V4.4
– V4.3
– V4.2
– V4.1
– V4.0
– V3.2
● The relevant version of the following SIMOTION Technology Packages, depending on the
kernel:
– Cam
– Path (Kernel as of V4.1)
– Cam_ext
– TControl
This document describes the syntax and implementation of the SIMOTION ST Structured Text
programming language for this version of SIMOTION SCOUT. It also includes information on
the following topics:
● ST Editor and Compiler with program example
● Data storage and data management on SIMOTION devices
● Options for diagnosis and troubleshooting
The scope of the SIMOTION ST programming language may contain new syntax elements
compared to earlier versions. These have only been tested using the current version of the
SIMOTION kernel and are released only for this kernel version or higher versions.
SIMOTION Documentation
An overview of the SIMOTION documentation can be found in the SIMOTION Documentation
Overview document.
This documentation is included as electronic documentation in the scope of delivery of
SIMOTION SCOUT. It comprises ten documentation packages.
The following documentation packages are available for SIMOTION V4.4:
● SIMOTION Engineering System Handling
● SIMOTION System and Function Descriptions
● SIMOTION Service and Diagnostics
● SIMOTION IT
● SIMOTION Programming
● SIMOTION Programming - References
● SIMOTION C
● SIMOTION P
● SIMOTION D
● SIMOTION Supplementary Documentation
Additional information
Click the following link to find information on the the following topics:
● Ordering documentation / overview of documentation
● Additional links to download documents
● Using documentation online (find and search manuals/information)
http://www.siemens.com/motioncontrol/docu
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address:
[email protected]
My Documentation Manager
Click the following link for information on how to compile documentation individually on the
basis of Siemens content and how to adapt it for the purpose of your own machine
documentation:
http://www.siemens.com/mdm
Training
Click the following link for information on SITRAIN - Siemens training courses for automation
products, systems and solutions:
http://www.siemens.com/sitrain
FAQs
Frequently Asked Questions can be found in SIMOTION Utilities & Applications, which are
included in the scope of delivery of SIMOTION SCOUT, and in the Service&Support pages
in Product Support:
http://support.automation.siemens.com
Technical support
Country-specific telephone numbers for technical support are provided on the Internet under
Contact:
http://www.siemens.com/automation/service&support
Preface.........................................................................................................................................................3
1 Fundamental safety instructions.................................................................................................................15
1.1 General safety instructions..........................................................................................................15
1.2 Industrial security........................................................................................................................16
2 Introduction.................................................................................................................................................17
2.1 High-level programming language..............................................................................................17
2.2 Programming language with technology commands...................................................................17
2.3 Execution levels..........................................................................................................................17
2.4 ST editor with tools for writing and testing programs..................................................................18
3 Getting Started with ST..............................................................................................................................19
3.1 Integration of ST in SCOUT........................................................................................................19
3.1.1 Getting to know the elements of the workbench.........................................................................21
3.2 Requirements for program creation.............................................................................................22
3.3 Working with the ST editor and the compiler...............................................................................23
3.3.1 Insert ST source file....................................................................................................................23
3.3.2 Opening an existing ST source file..............................................................................................25
3.3.3 Changing the properties of an ST source file..............................................................................25
3.3.4 Working with the ST editor..........................................................................................................27
3.3.4.1 Syntax coloring............................................................................................................................28
3.3.4.2 Drag&drop...................................................................................................................................28
3.3.4.3 Settings of the ST editor..............................................................................................................29
3.3.4.4 Indentations and tabs..................................................................................................................31
3.3.4.5 Folds (show and hide blocks)......................................................................................................33
3.3.4.6 Splitting the editor window...........................................................................................................36
3.3.4.7 Display spaces and tabs.............................................................................................................38
3.3.4.8 Changing the font size in the ST editor.......................................................................................39
3.3.4.9 Select text....................................................................................................................................40
3.3.4.10 Generating a simple series of numbers (generating a sequence)...............................................42
3.3.4.11 Use bookmarks...........................................................................................................................44
3.3.4.12 Automatic completion..................................................................................................................46
3.3.4.13 Opening a called block................................................................................................................47
3.3.4.14 Other help for the ST editor.........................................................................................................48
3.3.4.15 Using the command library..........................................................................................................49
3.3.4.16 ST editor toolbar..........................................................................................................................49
3.3.4.17 ST editor context menu...............................................................................................................50
3.3.4.18 Shortcuts.....................................................................................................................................53
3.3.5 Starting the compiler...................................................................................................................56
3.3.5.1 Help for the error correction........................................................................................................56
3.3.6 Making settings for the compiler..................................................................................................57
3.3.6.1 Global compiler settings..............................................................................................................57
6.4.3 Using data types, functions and function blocks from libraries..................................................261
6.5 Use of the same identifiers and namespaces...........................................................................262
6.5.1 Use of the same identifiers........................................................................................................262
6.5.2 Namespaces.............................................................................................................................265
6.6 Reference data..........................................................................................................................269
6.6.1 Cross-reference list...................................................................................................................269
6.6.1.1 Generating and updating a cross-reference list........................................................................269
6.6.1.2 Content of the cross-reference list............................................................................................270
6.6.1.3 Working with a cross-reference list...........................................................................................272
6.6.1.4 Filtering the cross-reference list................................................................................................272
6.6.2 Program structure......................................................................................................................273
6.6.2.1 Content of the program structure..............................................................................................274
6.6.3 Code attributes..........................................................................................................................274
6.6.3.1 Code attribute contents.............................................................................................................275
6.6.4 Reference to variables..............................................................................................................275
6.7 Controlling the preprocessor and compiler with pragmas.........................................................276
6.7.1 Controlling the preprocessor.....................................................................................................277
6.7.1.1 Preprocessor statement............................................................................................................278
6.7.1.2 Example of preprocessor statements........................................................................................279
6.7.2 Controlling compiler with attributes...........................................................................................281
6.8 SIMOTION devices...................................................................................................................283
6.8.1 Rules for identifiers of the SIMOTION devices..........................................................................283
6.8.2 Making settings on the device (as of Kernel V4.2)....................................................................285
6.9 Forward declarations.................................................................................................................286
6.10 Jump statement and label.........................................................................................................289
7 Error Sources and Program Debugging...................................................................................................291
7.1 Notes on avoiding errors and on efficient programming............................................................291
7.2 Program debugging...................................................................................................................291
7.2.1 Operating modes for program testing........................................................................................292
7.2.1.1 Modes of the SIMOTION devices..............................................................................................292
7.2.1.2 Important information about the life-sign monitoring.................................................................295
7.2.1.3 Life-sign monitoring parameters................................................................................................297
7.2.2 Editing program sources in online mode...................................................................................297
7.2.3 Symbol Browser........................................................................................................................298
7.2.3.1 Properties of the symbol browser..............................................................................................298
7.2.3.2 Using the symbol browser.........................................................................................................299
7.2.4 Monitoring variables in watch table...........................................................................................302
7.2.4.1 Variables in the watch table......................................................................................................302
7.2.4.2 Using watch tables....................................................................................................................302
7.2.5 Variable status...........................................................................................................................304
7.2.6 Program run..............................................................................................................................305
7.2.6.1 Program run: Display code location and call path.....................................................................305
7.2.6.2 Program run parameters...........................................................................................................306
7.2.6.3 Program run toolbar..................................................................................................................307
7.2.7 Program status..........................................................................................................................307
7.2.7.1 Properties of the program status...............................................................................................307
7.2.7.2 Using the status program .........................................................................................................309
7.2.7.3 Call path for program status......................................................................................................311
WARNING
Risk of death if the safety instructions and remaining risks are not carefully observed
If the safety instructions and residual risks are not observed in the associated hardware
documentation, accidents involving severe injuries or death can occur.
● Observe the safety instructions given in the hardware documentation.
● Consider the residual risks for the risk evaluation.
WARNING
Danger to life or malfunctions of the machine as a result of incorrect or changed
parameterization
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
● Protect the parameterization (parameter assignments) against unauthorized access.
● Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY
STOP or EMERGENCY OFF).
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, solutions, machines, equipment and/or networks. They are
important components in a holistic industrial security concept. With this in mind, Siemens’
products and solutions undergo continuous development. Siemens recommends strongly
that you regularly check for product updates.
For the secure operation of Siemens products and solutions, it is necessary to take suitable
preventive action (e.g. cell protection concept) and integrate each component into a holistic,
state-of-the-art industrial security concept. Third-party products that may be in use should
also be considered. For more information about industrial security, visit http://
www.siemens.com/industrialsecurity.
To stay informed about product updates as they occur, sign up for a product-specific
newsletter. For more information, visit http://support.automation.siemens.com
WARNING
Danger as a result of unsafe operating states resulting from software manipulation
Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe
operating states to develop in your installation which can lead to death, severe injuries and/
or material damage.
● Keep the software up to date.
Information and newsletters can be found at:
http://support.automation.siemens.com
● Incorporate the automation and drive components into a state-of-the-art, integrated
industrial security concept for the installation or machine.
For more detailed information, go to:
http://www.siemens.com/industrialsecurity
● Make sure that you include all installed products into the integrated industrial security
concept.
run once in response to a particular event. Alternatively, they can run sequentially or cyclically
at the round robin execution level.
① Editor
② Compiler
③ Program status
④ Detail view (Compile/check output tab)
1) Menu bar
2) Toolbars
3) Project navigator
4) Working area
5) Detail view (Symbol browser tab)
● Project navigator
The project navigator displays the entire project and its elements (e.g. CPU, axes,
programs, cams) in a tree structure.
● Working area
This window allows you to perform specific tasks either independently (by programming)
or using wizards (by configuring).
● Detail view
The detail view displays additional information about the elements selected in the project
navigator, e.g. all global variables for a program or the Compile/Test Output window.
Configuring hardware
Within the project, the hardware used must be made known to the system, including:
● SIMOTION device
● Centralized I/O (with I/O addresses)
● Distributed I/O (with I/O addresses)
A SIMOTION device must be configured before you can insert and edit ST source files.
In this section, you will learn how to use the ST editor and the compiler.
Note
MCC units, LAD/FBD units and DCC charts are also stored in the PROGRAMS folder under
the SIMOTION device.
For a description of the SIMOTION MCC (Motion Control Chart) programming language, refer
to the SIMOTION MCC Programming and Operating Manual.
For a description of the SIMOTION LAD (Ladder Diagram) and SIMOTION FBD (Function
Block Diagram) programming languages, refer to the SIMOTION LAD/FBD Programming
and Operating Manual.
Procedure
1. Open the appropriate SIMOTION device in the project navigator.
2. Select the PROGRAMS folder.
3. Select the menu Insert > Program > ST source file.
4. Enter the name of the ST source file.
The names of program sources must comply with the rules for identifiers (Page 89): They
are made up of letters (A … Z, a … z), numbers (0 … 9), or single underscores (_) in any
order, whereby the first character must be a letter or underscore. No distinction is made
between upper- and lower-case letters.
The permissible length of the name depends on the SIMOTION Kernel version:
– As of version V4.1 of the SIMOTION Kernel: maximum 128 characters.
– Up to version V4.0 of the SIMOTION Kernel: maximum 8 characters.
Names must be unique within the SIMOTION device.
Protected or reserved identifiers (Page 91) are not permitted.
Existing program sources (e.g. ST source files, MCC units) are displayed.
5. You can also enter an author, version, and a comment.
6. Activate the Open editor automatically checkbox.
7. If necessary, select further tabs to make local settings (only valid for this ST source file):
– Compiler tab: Local settings of the compiler (Page 59) for code generation and message
display.
– Additional settings tab: Definitions for preprocessor (Page 67)
8. Confirm with OK.
Note
When you click OK, the ST source file will only be transferred to the project. The data, together
with the project, is only saved to the data carrier if you select, for example, Project > Save,
Project > Save and compile changes, or Project > Save and recompile all.
Procedure
How to open an ST source file:
1. Open the subtree of the appropriate SIMOTION device in the project navigator.
2. Open the PROGRAMS folder.
3. Select the desired ST source file.
4. Select the Edit > Open object menu command.
5. Only for ST source files with know-how protection:
If the ST source file is not already open and the log-in details assigned to it have not yet
been used to log in:
– Enter the corresponding password for the displayed login.
The know-how protection for this source file is canceled temporarily (until the file is
closed).
– If required, activate the "Use login as a standard login" checkbox.
You will be logged in with this login and can now open additional units to which the same
login is assigned without having to re-enter the password.
This ST source file is opened with the saved folding information (Page 33) and bookmarks
(Page 44). Multiple units can be opened.
Note
You can also double-click the required ST source file to open it.
Procedure
1. Under the SIMOTION device, open the PROGRAMS folder.
2. Select the desired ST source file.
first character must be a letter or underscore. No distinction is made between upper and lower
case letters.
The permissible length of the name depends on the SIMOTION Kernel version:
● As of Version V4.1 of the SIMOTION Kernel: maximum 128 characters.
● Up to Version V4.0 of the SIMOTION Kernel: maximum 8 characters.
Names must be unique within the SIMOTION device.
Protected or reserved identifiers (Page 91) are not allowed.
Existing program sources (e.g. ST source files, MCC units) are displayed.
Note
With versions of the SIMOTION Kernel up to V4.0, a violation of the permissible length of the
program source file name may not be detected until a consistency check or a download of
the program source file is performed!
The ST editor makes it easier for you to work with the ST source file, variables and technology
objects through the following operator controls:
● Syntax coloring
● Drag and drop
● Menu commands and shortcuts
3.3.4.2 Drag&drop
Drag&drop
A drag-and-drop operation (dragging while keeping the left mouse button pressed) enables
you to:
● Move selected text areas within an ST source file or to another opened ST source file.
● Copy names of variables from the symbol browser to the ST source file.
● Copy names (e.g. of technology objects, functions or function blocks) from the project
navigator to the ST source file.
● Copy system functions from the command library to the ST source file.
To copy names of variables from the symbol browser to the ST source file:
1. Select the entire line of the desired variable in the symbol browser. To do this, click the line
number at the start of the line.
2. Press the left mouse button and drag the line number to the desired position in the ST
source file.
The name of the selected variable is inserted in the ST source file.
To copy the name of an element (e.g. a technology object, a function or a function block) from
the project navigator to the ST source file:
1. Select the Project tab in the project navigator.
2. Select the element in the project navigator.
3. Press the left mouse button and drag the element to the desired position in the ST source
file.
The name of the selected element is inserted in the ST source file.
To copy a system function from the command library to the ST source file:
Procedure:
1. Select the menu Options > Settings.
2. Select the ST editor / scripting tab.
3. Enter the settings.
4. Click OK or Accept to confirm.
Parameter Description
Display line numbering If active, the line numbers are displayed.
See: Other ST editor tools (Page 48).
Replace tabs with blanks You select here how text indentation is performed (for the
automatic indentation or by pressing the Tab key):
● If active: By adding the appropriate number of space
characters ($20).
● If inactive: By adding the tab character ($09).
See: Indentations and tabs (Page 31).
Tab width Number of characters skipped by a tab.
See: Indentations and tabs (Page 31).
Tooltip display for function parameters When active, the parameters are displayed as tooltips for the
functions.
Automatic indent/outdent If active, for the text input, source file sections and blocks are
indented automatically by the set tab width.
See: Indentations and tabs (Page 31).
Folding active If active, the column with the folding information is displayed
at the left-hand side next to the edit area.
You can then hide blocks in an ST source file so that only the
first line of the block remains visible.
See: Folding (showing and hiding blocks) (Page 33).
Display indentation level If active, you can optically highlight the indent and outdent
for blocks using vertical help lines (in accordance with the set
tab size).
See: Indentations and tabs (Page 31).
Display bracket pairs If active, the associated bracket of the pair that belongs to
the bracket where the cursor is located will be found and
optically highlighted.
See: Other ST editor tools (Page 48).
Font Font for the display of the text in the ST editor. All non-
proportionally spaced fonts installed on the PC are available
for selection.
Font size Font size (in pt) for the display of the text in the ST editor.
See: Change the font size in the ST editor (Page 39).
Format for status display 1
Format in which the variable values with bit data type are
displayed for the program status or the variable status (for
ST editor only).
See: Properties of the program status (Page 307), variable
status (Page 304)
Note
This setting affects only the behavior during the text input. It does not have any effect on
existing text in the ST sources.
1. Select the text area in the ST editor that you want to format (see Select text (Page 40)).
2. Select the View > Format current selection context menu.
Note
Leading tabs or spaces will be replaced in a line only when the formatting changes their
number.
Figure 3-8 ST source file for which all blocks are shown
Figure 3-9 ST source file with hidden IF block (including block comment)
Note
The information relating to displayed and hidden blocks is saved in the project when the ST
source file is closed.
This information is not transferred when the ST source file is exported (Page 69).
Note
The editor window cannot be split if the program status (Page 309) test function is being used.
Procedure
How to specify whether spaces and tabs are displayed in the active ST source file:
1. Set the cursor in the opened ST source.
2. Select the View > Formatting symbols context menu.
This setting is not saved when the ST source is closed.
Proceed as follows
You can change the font size:
● For the current ST source
● For ST source files to be opened subsequently
How to change the font size for the current ST source (alternative):
● Press the CTRL key while moving the mouse wheel
● Press concurrently the CTRL key and one of the following keys on the numeric block:
– ADD (+) to increase,
– MINUS (-) to reduce,
– DIV for 100%.
Procedure
1. In the ST editor, select all the numbers that you want to replace with a series of numbers
(column-by-column, for example); see Selecting text (Page 40).
2. Press the CTRL+SHIFT+F7 shortcut.
The ST editor interprets all selected numbers as being possible elements and attempts to
identify the pattern of the series from the initial elements and to calculate the subsequent
elements (see below). The initial elements of the series must represent integer values. After
the calculation has been performed, the ST editor replaces all the selected numbers which
follow the initial elements with the calculated values.
*HQHUDWHQXPHULFDO
6HOHFWFROXPQVRILQGLFHV VHTXHQFH
$/7PRXVH &75/6+,)7)
*HQHUDWHQXPHULFDO
6HOHFWFROXPQVRIYDOXHV VHTXHQFH
$/7PRXVH &75/6+,)7)
an+1 = f(an) = j · an + k
Coefficients j and k are calculated from the initial elements in the series:
1. First of all, an attempt is made to determine the integer coefficients j and k from the
three initial elements of the series of numbers a1, a2 and a3 (j ≥ 0).
2. If this is not possible, only the first two elements a1 and a2 are used for the calculation:
– Coefficient j will be set to 1.
– Coefficient k will be determined from the resulting formula a2 = a1 + k.
These values are used to calculate the series of numbers. All selected numbers will be replaced
by the calculated elements; the initial elements of the series which are used remain unchanged.
The following table shows some examples for series of numbers calculated in this manner.
Table 3-2 Examples for linear series of numbers with specified initial elements
Note
The initial elements of the series used for the calculation must represent integer values.
However, they can also be entered as floating-point numbers.
When the series is calculated, the numbers to be taken into account must all be selected.
The selected area must only contain numbers and certain special characters (e.g. opening
and closing brackets, commas).
The first time an impermissible character is encountered in the selected area, the calculation
of the series will be aborted.
See the examples in the following figure.
6HOHFWFROXPQV *HQHUDWHQXPHULFDO
$/7PRXVH VHTXHQFH
&75/6+,)7)
(UURU 5HVXOW
1XPEHUVQRWIXOO\ ,QFRUUHFWQXPHULFDO
VHOHFWHG VHTXHQFH
6HOHFWFROXPQV *HQHUDWHQXPHULFDO
$/7PRXVH VHTXHQFH
&75/6+,)7)
(UURU 5HVXOW
,PSHUPLVVLEOH ,QFRPSOHWH
FKDUDFWHUVVHOHFWHG QXPHULFDOVHTXHQFH
Figure 3-16 Examples of how incorrect selections cause unwanted results when generating a series
of numbers in the ST editor
Note
Bookmarks are saved when the ST source file is closed.
Jump to bookmark
How to jump to the next bookmark within the ST source:
● Select the Bookmarks > Next bookmark context menu.
How to jump to the previous bookmark within the ST source:
Procedure
How to automatically complete an identifier:
1. Write the first characters of the identifier (e.g. the letters of a word).
2. Press the Ctrl+space key combination.
The selection possibilities are displayed in a window.
3. Expand or refine the selection options displayed:
– Enter additional characters
– Delete characters
– Use the left/right arrow keys to move the cursor
Note
If only a single identifier is offered for selection, the selection window will not be opened and
the identifier completed immediately.
Functional description
The following identifiers that begin with the specified character will be offered:
● Keywords of the Structured Text language
● Identifiers from the command library
● For technology objects including their system variables and configuration data
● Identifiers of the own ST source:
– Program organization units (POU)
– Data types
– Variables and constants
– Structure elements
● Identifiers from imported program sources
Note
Identifiers from the own ST source and from imported program sources will be displayed
correctly only when the corresponding program source has been compiled.
The display is made context-sensitive, only those types of identifiers that are appropriate at
the associated location of the ST source will be offered:
● Within a declaration block, only data types and keywords
● Within a program organization unit (POU), no data types
● For a structure (e.g. var_struct.xx), only structure components
Symbol Meaning
Accept and compile
Click this symbol to transfer the active ST source file to the project and compile it into
executable code.
See: Starting the compiler (Page 56).
Insert ST source file
Click this icon to create a new ST source file. The icon is active only when the
PROGRAMS folder where the ST source file is to be saved is selected in the project
navigator.
See: Insert ST source file (Page 23).
Program status
Click this icon to start the program status test mode. During the program execution, you
can monitor the values of the variables marked in the ST source.
The following prerequisites are necessary:
1. The program must be compiled with the appropriate compiler option.
2. The project and the program must be loaded into the target system.
3. An online connection to the target system must have been established.
Reclick this icon to end the program status.
See: Using the program status (Page 309).
Symbol Meaning
Stop monitoring of the program variables
Click this icon in the program status test mode to stop the monitoring of the program
variables.
See Using the program status (Page 309).
Continue monitoring of the program variables
Click this icon in the program status test mode to continue the monitoring of the program
variables.
See: Using the program status (Page 309).
Refresh
Click this symbol in the program status test mode to force updating of the values
displayed. The monitoring of the program variables must have been activated.
See: Using the program status (Page 309).
Format current selection
Click this symbol to indent the blocks in the selected text area by one tab width, in
accordance with the block hierarchy.
See Indentations and tabs (Page 31).
Formatting symbols on/off
Click this symbol to show or hide blanks and tabs in the active ST source file.
See Displaying blanks and tabs (Page 38).
Insert/remove bookmark
Click this symbol to set a bookmark in the current line of the active ST source file or to
delete an existing bookmark.
See: Using bookmarks (Page 44).
Next bookmark
Click this symbol to jump to the next bookmark in the active ST source file.
See: Using bookmarks (Page 44).
Previous bookmark
Click this symbol to jump to the previous bookmark in the active ST source file.
See: Using bookmarks (Page 44).
Remove all bookmarks
Click this symbol to remove all bookmarks from the active ST source file.
See: Using bookmarks (Page 44).
Go to start of block
Click this symbol to move the cursor to the start of the current or higher-level block.
Go to end of block
Click this symbol to move the cursor to the end of the current block.
Function Meaning/information
Open called block 1
If the cursor is positioned in the identifier of a user-defined program organization
unit (POU), e.g. when calling a function or declaring an instance of a function
block:
Select this command to open and edit the source of this POU (ST source file,
MCC chart, LAD/FBD program).
See: Open called block (Page 47).
Cut Select this command to cut the selected area from the ST source file and save
it to the clipboard.
Copy Select this command to copy the selected area to the clipboard.
Paste Select this command to insert the contents of the clipboard into the ST source
file at the current cursor position.
Delete Select this command to delete the selected area or the character to the right of
the cursor.
Select all Select this command to select all of the text in the ST source file.
See: Select text (Page 40).
Assign parameters to a call Under development.
View
Line numbering on/off Select this command to show or hide the line numbers in the active ST source
file.
See: Other ST editor tools (Page 48).
Indent help Select this command to highlight the indents and outdents for blocks in the active
ST source file by means of vertical auxiliary lines (in accordance with the set tab
width).
See: Indentations and tabs (Page 31).
Display bracket pairs Select this command to highlight both brackets of a pair in the active ST source
file, if the cursor is positioned at one of the two brackets.
See: Other ST editor tools (Page 48).
Formatting symbols Select this command to show or hide blanks and tabs in the active ST source file.
See: Displaying blanks and tabs (Page 38).
Folding Select this command to activate or deactivate folding in the active ST source file.
The folding information in the active ST source file is then displayed or hidden.
See: Folding (showing and hiding blocks) (Page 33).
Format current selection Select this command to indent the blocks in the selected text area by one tab
width, in accordance with the block hierarchy.
See: Indentations and tabs (Page 31).
Split window Select this command to split the active window of the ST editor into two segments
horizontally, giving you two views of the same ST source file.
See: Splitting the editor window (Page 36).
Bookmarks
Insert/remove bookmark Select this command to set a bookmark in the current line of the active ST source
file or to delete a bookmark which has been set there.
See: Using bookmarks (Page 44).
Next bookmark Select this command to jump to the next bookmark in the active ST source file.
See: Using bookmarks (Page 44).
Function Meaning/information
Previous bookmark Select this command to jump to the previous bookmark in the active ST source
file.
See: Using bookmarks (Page 44).
Remove all bookmarks Select this command to remove all bookmarks from the active ST source file.
See: Using bookmarks (Page 44).
Selection in upper case Select this command to change the selected text to upper case.
See: Other ST editor tools (Page 48).
Selection in lower case Select this command to change the selected text to lower case.
See: Other ST editor tools (Page 48).
Indent selected area ● If no text is selected:
Select this command to move the text on the right of the cursor to the next
tab position.
● If text is selected in one single line:
Select this command to delete the selected text and move the subsequent
text to the next tab position.
● If text is selected in multiple lines:
Select this command to indent the selected area (Page 31).
A tab character ($09) or the equivalent number of spaces ($20) will be inserted,
depending on the settings for the ST editor (Page 29).
Undo selected area ● If no text is selected:
Select this command to move the cursor to the previous tab position.
● If text is selected in one single line:
Select this command to cancel the selection and move the cursor to the
previous tab position.
● If text is selected in multiple lines:
Select this command to outdent the selected area (Page 31).
Go to start of block Select this command to move the cursor to the start of the current or higher-level
block.
Go to end of block Select this command to move the cursor to the end of the current block.
Go to start of block, level 0 Select this command to move the cursor to the start of the higher-level block, 1st
level.
Go to start of block, level 1 Select this command to move the cursor to the start of the higher-level block, 2nd
level.
Set/remove breakpoint 1 Select this command to set a breakpoint at the selected code position or to
remove an existing breakpoint.
See: Setting breakpoints (Page 318).
Activate/deactivate breakpoint 1 Select this command to activate or deactivate the breakpoint at the selected code
position.
See: Activating breakpoints (Page 327).
Add to watch table 1
New watch table If the cursor is within a variable or if the variable is selected:
Select this command to create a new watch table and to take it into this variable.
(Name of a watch table) If the cursor is within a variable or if the variable is selected:
Select this command to take the variable into the selected watch table
Go to 1
Local use >> If the cursor is within a variable or if the variable is selected:
Select this command to jump to the next use of the variable in the ST source file.
Function Meaning/information
Local use << If the cursor is within a variable or if the variable is selected:
Select this command to jump back to the previous use of the variable in the ST
source file.
Declaration position If the cursor is within a variable or if the variable is selected:
Select this command to jump to the declaration position of the variable. If the
variable is in an imported source of library, this is opened.
Points of use If the cursor is within a variable or if the variable is selected:
Select this command to list all the points of use of the variable in the detail view.
1
Not available in the script editor context menu.
3.3.4.18 Shortcuts
The ST editor also provides keyboard shortcuts. Some commands can also be called via the
Edit or ST editor menus:
The keyboard shortcuts related to editor functions also apply to the script editor.
Shortcuts Description
F2 Jump to the next bookmark.
F3 Find next (menu Edit > Find next).
F9 1
Set or remove a breakpoint (menu Debug > Set/remove breakpoint).
F12 1 Activate or deactivate a set breakpoint (menu Debug > Activate/deactivate breakpoint).
BACK Delete the character to the left of the cursor.
INS Switch between insert mode and overwrite mode.
DEL Delete the selected area or the character to the right of the cursor (menu Edit > Delete).
Arrow key Move the cursor.
POS1 Move cursor to the beginning of the line.
END Move cursor to the end of the line.
PG UP Move up one page. The cursor follows.
PG DN Move down one page. The cursor follows.
TAB ● If no text is selected:
Move the text on the right of the cursor to the next tab position.
● If text is selected in one single line:
Delete the selected text and move the subsequent text to the next tab position.
● If text is selected in multiple lines:
Indent selected area.
A tab character ($09) or the equivalent number of spaces ($20) will be inserted, depending
on the settings for the ST editor.
SHIFT+F2 Jump to the previous bookmark.
SHIFT+BACK Delete the character to the left of the cursor.
SHIFT+INS Paste clipboard contents (menu Edit > Paste).
SHIFT+DEL Cut the selected area (menu Edit > Cut).
SHIFT+Arrow key Select line of text.
Shortcuts Description
SHIFT+POS1 Select text back to the beginning of the line.
SHIFT+END Select text to the end of the line.
SHIFT+PG UP Move up one page. Select lines of text up to the new cursor position.
SHIFT+PG DN Move down one page. Select lines of text up to the new cursor position.
SHIFT+TAB ● If no text is selected:
Jump to the preceding tab position.
● If text is selected in one single line:
Jump to the preceding tab position.
● If text is selected in multiple lines:
Outdent selected area.
CTRL+A Select all text (menu Edit > Select All).
CTRL+B 1 Accept and compile ST source file (menu ST source file > Accept and compile).
CTRL+C Copy the selected area to the clipboard (menu Edit > Copy).
CTRL+D Duplicate the current line or the area selected.
CTRL+F Find text in ST source file (menu Edit > Find)
If text is selected in a single line, this is taken into the search screen form.
CTRL+H Replace text in ST source file (menu Edit > Replace).
CTRL+J Display the next search result in the project-wide search (menu Edit > Display next
position).
CTRL+L Copy the current line or the selected area to the clipboard.
CTRL+U Change selected text to lower case.
CTRL+V Paste clipboard contents (menu Edit > Paste).
CTRL+X Cut the selected area (menu Edit > Cut).
CTRL+Y Redo the last action (menu Edit > Redo).
CTRL+Z Undo the last action (menu Edit > Undo).
CTRL+space Automatic completion
CTRL+F2 Set or remove bookmarks.
CTRL+F4 Close the active window (e.g. menu ST source file > Close).
CTRL+F5 1 Remove all the breakpoints (in all the program source) in the SIMOTION device (menu
Debug > Remove all breakpoints).
CTRL+F7 1 Activate or deactivate the program status function (menu ST source file > Program status on/
off).
CTRL+F8 1 Continue to execute the program at the activated breakpoint (menu Debug > Continue).
CTRL+BACK Delete the word to the left of the cursor.
CONTROL+INS Copy the selected area to the clipboard (menu Edit > Copy).
CTRL+DEL Delete the word to the right of the cursor.
CTRL+arrow key (left/right) Move cursor left or right by one word.
CTRL+arrow key (up/down) Move up or down one page. The cursor remains in the same position for as long as it is
visible in the window.
CTRL+POS1 Move cursor to the beginning of the ST source file.
CTRL+END Move cursor to the end of the ST source file.
CTRL+SHIFT+B Highlight bracket pairs in the current ST source file.
CTRL+SHIFT+F Search for texts within the project (menu Edit > Search in the project)
CTRL+SHIFT+G Replace texts within the project (menu Edit > Replace in the project)
Shortcuts Description
CTRL+SHIFT+H Assign parameters to a call. Under development.
CTRL+SHIFT+U Change selected text to upper case.
CTRL+SHIFT+F2 Remove all bookmarks from the ST source file.
CTRL+SHIFT+F3 Arrange windows, tile horizontally.
CTRL+SHIFT+F5 Arrange windows, tile vertically.
CTRL+SHIFT+F7 Generate a simple series of numbers (sequence) in the selected area.
CTRL+SHIFT+F8 Format selected area.
CTRL+SHIFT+F9 Move cursor to the start of the current or higher-level block.
CTRL+SHIFT+F10 Move cursor to the end of the current block.
CTRL+SHIFT+F11 Move cursor to the start of the higher-level block, 1st level.
CTRL+SHIFT+F12 Move cursor to the start of the higher-level block, 2nd level.
CTRL+SHIFT+BACK Delete text to the left of the cursor up to the beginning of the line.
CTRL+SHIFT+DEL Delete text to the right of the cursor up to the end of the line.
CTRL+SHIFT+arrow key (left/ Select word to the left or right of the cursor.
right)
CTRL+SHIFT+POS1 Select lines of text back to the beginning of the ST source file.
CTRL+SHIFT+END Select lines of text up to the end of the ST source file.
CTRL+ALT+C Folding: Hide all blocks of the current ST source file.
CTRL+ALT+D Folding: Show all blocks of the current ST source file.
CTRL+ALT+F Folding: Show or hide folding information in the current ST source file.
CTRL+ALT+I Display indentation level in the current ST source file.
CTRL+ALT+L Show or hide line numbers in the current ST source file.
CTRL+ALT+O 1 If the cursor is in the identifier of a program organization unit (POU): Open called block,
i.e. open program source of the POU and position the cursor.
CTRL+ALT+R Folding: Show all subordinate blocks.
CTRL+ALT+S Split window or cancel split (menu ST source file > Split window).
CTRL+ALT+T Folding: Show/hide block.
CTRL+ALT+V Folding: Hide all subordinate blocks.
CTRL+ALT+W Show or hide blanks and tabs in the current ST source file.
CTRL+ADD (numeric keypad) Increase font size in the current ST source file.
CTRL+MINUS (numeric Decrease font size in the current ST source file.
keypad)
CTRL+DIV (numeric keypad) Change font size in the current ST source file to 100%.
ALT+SHIFT+L Change selected text to upper case.
ALT+SHIFT+U Change selected text to lower case.
ALT+SHIFT+Arrow key Select text by column.
ALT+SHIFT+POS1 Select columns of text back to the beginning of the line.
ALT+SHIFT+END Select columns of text to the end of the line.
ALT+SHIFT+Pg Up Move down one page. Select columns of text up to the new cursor position.
ALT+SHIFT+PG DN Move down one page. Select columns of text up to the new cursor position.
1
Keyboard shortcut does not apply to the script editor.
Table 3-6 Combined keyboard and mouse actions for ST editor and script editor
Requirement
The ST source file has been opened with the ST editor.
Proceed as follows
1. Click in the window with the ST editor. The dynamic ST source file menu appears.
2. Select the ST source file > Accept and compile menu command.
Note
The ST source file menu is dynamic. It only appears if the window of the ST editor is active.
The compiler checks the syntax of the ST source file. The "Compile/check output" tab of the
detail view displays the successful compilation of the source text or compiler errors. The error
details include: The name of the ST source file, the number of the line in which the error
occurred, the error number and the error description.
Procedure
1. Select the menu Options > Settings.
2. Select the Compiler tab.
3. Define the settings according to the following table.
4. Confirm with OK.
Parameter
Parameter Description
Display warning classes 1
In addition to error messages, the compiler can issue warnings and information. You can set
the scope of the warning messages to be output:
Active: The compiler issues warnings and information for the selected class.
Inactive: The compiler suppresses warnings and information for the respective class.
See also Meanings of the warning classes (Page 65).
Selective linking 1
Active (standard): Unused code is removed from the executable program.
Inactive: Unused code is retained in the executable program.
Use preprocessor1 Active: Preprocessor is used (see Controlling the preprocessor (Page 277)).
Inactive (standard): Preprocessor is not used.
Enable program status1 Active: Additional program code is generated to enable monitoring of program variables
(including local variables).
Inactive (standard): Program status not possible.
See Properties of the program status (Page 307).
Permit language extensions 1
Active: Language elements are permitted that do not comply with IEC 61131-3.
● Direct bit access to variables of a bit data type (Page 137)
● Accessing the input parameter of a function block while outside the function block
(Page 181)
● Calling a program while in a different program (Page 186)
Inactive (standard): Only language elements that comply with IEC 61131-3 are permitted.
Only create program Active: The local variables of a program are only stored once in the user memory of the unit.
instance data once1 This setting is required for calling a program while inside a different program (Page 186).
Inactive (standard): The local variables of a program are stored according to the task
assignment in the user memory of the respective task.
See Memory areas of the variable types (Page 217).
Permit forward declarations Only for the ST programming language.
(ST) Forward declarations enable you to use program organization units (POUs) before they are
fully defined. Prototype declarations of POUs are possible prior to their use, but only required
for an instance declaration of a function block.
Active: Forward declarations are permitted.
Inactive (standard): Forward declarations are not permitted.
See Forward declarations (Page 286).
Forward declarations are always permitted with the MCC and LAD/FBD programming
languages.
It is also possible to make a local setting on the ST source file (Page 59). Please also refer
to the description of the effectiveness of global or local compiler settings (Page 62).
Parameter Description
Permit single step (MCC) Only for the MCC programming language.
Active: An additional program code is created which enables individual program steps to be
monitored.
Inactive: Single step is not possible.
This function facilitates debugging of your program.
See "Tracking single steps in the program" in the MCC Programming Manual.
It is also possible to make a local setting on the MCC unit. Please also refer to the description
of the effectiveness of global or local compiler settings (Page 62).
Permit trace (MCC - only for Only for the MCC programming language and for SIMOTION Kernel as of version V4.2.
RT versions >= 4.2) Active: An additional program code is created which enables monitoring of the program
execution in program branches which are executed cyclically.
Inactive: Trace is not possible.
This function facilitates debugging of your program.
See "Tracking program execution per trace" in the MCC Programming Manual.
It is also possible to make a local setting on the MCC unit. Please also refer to the description
of the effectiveness of global or local compiler settings (Page 62).
Display all messages with Here, you can control the scope of the error log that will be displayed in the workbench's
"Save and compile changes"2 detail view when you call the Save and compile changes command in SIMOTION SCOUT.
Active: A detailed log is created that is similar to that for single compilation of an ST source
file.
Inactive: A compressed error log is created.
Optimize execution order Only for LAD/FBD programming languages.
(LAD/FBD) Active: LAD/FBD networks are calculated in the optimized execution order.
Inactive: LAD/FBD networks are calculated in the non-optimized execution order.
1
Local settings also possible, see Local settings of the compiler (Page 59). Please also refer to the description of the
effectiveness of global or local compiler settings (Page 62).
2
User-specific settings. Valid for all SIMOTION projects that the user processes.
Note
You may have to save and compile the project for the settings to take effect.
Procedure
1. Open the Properties window for the ST source file, see Changing the properties of an ST
source file (Page 25):
Select the ST source file in the project navigator and select the Edit > Object properties
menu command.
2. Select the Compiler tab.
Parameter
Table 3-8 Parameters for the local compiler settings for the ST source file
Parameter Description
Use global settings This checkbox is available for every parameter which also has a global setting. It can only
be selected when the "Do not recompile the source if global compiler settings have been
changed" checkbox is inactive. This is where you define whether the global settings are
adopted or whether the local settings will apply.
See the description under "Effectiveness of global or local compiler settings (Page 62)".
Use the second checkbox or the other checkboxes for the relevant parameters (described
below) to define the local settings.
Selective linking1 Active: Unused code is removed from the executable program.
Inactive: Unused code is retained in the executable program.
Gray background (display only): The global setting displayed is adopted (when "Use global
settings" = active).
Use preprocessor1 Active: Preprocessor is used.
Inactive: Preprocessor is not used.
Gray background (display only): The global setting displayed is adopted (when "Use global
settings" = active).
See Controlling the preprocessor (Page 277).
Parameter Description
Enable program status1 Active: Additional program code is generated to enable monitoring of program variables
(including local variables).
Inactive: Program status not possible.
Gray background (display only): The global setting displayed is adopted (when "Use global
settings" = active).
See Properties of the program status (Page 307).
Permit language extensions 1
Active: Language elements are permitted that do not comply with IEC 61131-3.
● Direct bit access to variables of a bit data type (Page 137)
● Accessing the input parameter of a function block while outside the function block
(Page 181)
● Calling a program while in a different program (Page 186)
Inactive: Only language elements are permitted that comply with IEC 61131-3.
Gray background (display only): The global setting displayed is adopted (when "Use global
settings" = active).
Only create program Active: The local variables of a program are only stored once in the user memory of the unit.
instance data once1 This setting is required for calling a program while inside a different program (Page 186).
Inactive: The local variables of a program are stored according to the task assignment in the
user memory of the respective task.
Gray background (display only): The global setting displayed is adopted (when "Use global
settings" = active).
See Memory areas of the variable types (Page 217).
For further information, refer to the SIMOTION Basic Functions Function Manual.
Issue warnings In addition to error messages, the compiler can issue warnings and information. You can set
Warning classes1 the scope of the warning messages to be issued.
"Issue warnings" checkbox:
Active: The compiler issues the warnings and information according to the warning class
selection that follows.
Inactive: The compiler suppresses all warnings and information concerning this unit. The
checkboxes for the warning classes are hidden.
Gray background (display only): Operating on a global setting basis, the compiler always
issues warnings and information in accordance with the global warning class selection shown
below (if "Use global settings" = active).
"Warning classes" checkboxes (only if "Issue warnings" = active):
Active: The compiler issues warnings and information for the selected class.
Inactive: The compiler suppresses warnings and information for the respective class.
Gray background (display only): The global setting displayed is adopted (when "Use global
settings" = active).
See also Meanings of the warning classes (Page 65).
Permit forward declarations 1
Forward declarations enable you to use program organization units (POUs) before they are
fully defined. Prototype declarations of POUs are possible prior to their use, but only required
for an instance declaration of a function block.
Active: Forward declarations are permitted.
Inactive (standard): Forward declarations are not permitted.
Gray background (display only): The global setting displayed is adopted (when "Use global
settings" = active).
See Forward declarations (Page 286).
Parameter Description
Enable OPC-XML Active: Symbol information for the unit variables of the ST source file is available in the
SIMOTION device.
This is required for:
● The _exportUnitDataSet and _importUnitDataSet functions; see the SIMOTION Basic
Functions Function Manual
● The watch function of IT DIAG.
Inactive: Symbol information is not created.
Do not recompile unit if global Active: The global settings of the compiler have no effect for all parameters. The "Use global
compiler settings have been settings" checkboxes cannot be selected and are grayed out. When changing the global
changed compiler settings, the ST source file is not recompiled.
This setting is required for libraries that have a know-how protection program (Page 67) with
a "High" level:
● For all program sources in this library.
● For the library itself.
Inactive: The "Use global settings" checkboxes can be selected for all parameters and are
displayed with a white background. These checkboxes specify whether the global properties
are taken over for the corresponding parameters.
This setting means that in the following case the ST source file is compiled even though all
"Accept global settings" checkboxes are inactive:
● The global settings of the compiler have been changed and the menu Project > Save and
compile changes is selected.
See the description under "Effectiveness of global or local compiler settings (Page 62)".
1
Global setting also possible, see Global settings of the compiler (Page 57). Please also refer to the description of the
effectiveness of global or local compiler settings (Page 62).
"Do not recompile the source if global compiler settings have been changed" checkbox
With the "Do not recompile the source if global compiler settings have been changed"
checkbox, you specify whether the global properties of the compiler influence the program
source.
● Active: The global settings of the compiler have no effect for all parameters. The "Use global
settings" checkboxes cannot be selected and are grayed out. When changing the global
compiler settings, the ST source file is not recompiled.
This setting is required for libraries that have a know-how protection program (Page 67)
with a "High" level:
– For all program sources in this library.
– For the library itself.
● Inactive: The "Use global settings" checkboxes can be selected for all parameters and are
displayed with a white background. These checkboxes specify whether the global
properties are taken over for the corresponding parameters.
This setting means that in the following case the program source is compiled even though
all "Accept global settings" checkboxes are inactive:
– The global settings of the compiler have been changed and the menu Project > Save
and compile changes is selected.
This causes problems for libraries that have a know-how protection program (Page 67) with
a "High" level: Online inconsistencies can also occur for projects that have been converted
from an earlier version of SIMOTION SCOUT.
Note
You can check the current compiler options which will be effective the next time the program
source is compiled.
● To do this, select the "Additional settings" tab (Page 65) in the Properties window of the
program source.
For the detailed description of the compiler error messages, specify which warning classes
are assigned to the individual warnings (Page 405) and information (Page 411).
Requirement
The Properties window of the program source (Page 25) is open.
Procedure
To display the current compiler options using the global or local settings of the compiler
(Page 57):
● Select the Additional settings tab.
The current compiler options for the program source are displayed. They are valid for a
future compilation.
To display the compiler options used for the last compilation of the program source:
Note
The compiler options can also be specified when the compiler is called from the command
line, e.g. using scripting.
Note
If you export in XML format, the ST source files are exported in an encrypted form. When
importing the encrypted XML files, the know-how protection, including login and password,
is retained.
See also
Know-how protection for libraries (Page 260)
Syntax Meaning
Identifier=text The specified identifier is defined and replaced in the ST source file by the
’Identifier=text’ specified text.
"Identifier=text" Permissible characters: See table footnote.
If the expression contains blanks (e.g. in the text), the syntax
"Identifier=text" must be used.
Identifier The specified identifier is defined and replaced in the ST source file by
blank text.
Permissible characters: See table footnote.
Multiple preprocessor definitions are separated by commas: Definition_1, Definition_2, …
Permissible characters:
● For identifiers: In accordance with the rules for identifiers: Series of letters (A … Z, a … z), digits
(0 … 9) or single underscores (_) in any order, whereby the first character must be a letter or
underscore. No distinction is made between upper and lower case letters.
● For text: Sequence of any characters other than \ (backslash), ’ (single quote) and ” (double quote).
The keywords USES, USELIB and USEPACKAGE are not permitted.
Note
Preprocessor definitions, which are made within an ST source file with pragmas, overwrite
the definitions in the Properties dialog box.
Note the information relating to preprocessor statements (Page 278).
An overview is provided here of the export, import and printing of an ST source file.
Procedure
To export an ST source file as an ASCII file:
1. Open the ST source file (Page 25), entering the password if necessary (for ST source files
with know-how protection (Page 67)).
2. Make sure that the cursor is in the ST editor.
3. Select the ST source file > Export menu command.
4. Enter the path and file name for the ASCII file and click Save to confirm.
The ST source file is saved as an ASCII file; the file name is given the default extension *.st
Alternatively, you can also proceed as follows:
1. Select the ST source file in the project navigator.
2. Select Export from the context menu.
3. Only for ST source files with know-how protection (Page 67) and which are not already
open:
If the user with the log-in details assigned to the ST source file has not yet logged in:
– Enter the corresponding password for the displayed login.
The know-how protection for this unit is temporarily canceled (for this export).
– If required, activate the "Use login as a standard login" checkbox.
You will be logged in with this login and can now export or open additional units to which
the same login is assigned without having to re-enter the password.
4. Enter the path and file name for the ASCII file and click Save to confirm.
Note
Folding information (Page 33) and bookmarks (Page 44) are not exported.
Note
Know-how-protected ST source files can also be exported in XML format. The ST source
files are exported encrypted. When importing the encrypted XML files, the know-how
protection, including login and password, is retained.
Folding information (Page 33) and bookmarks (Page 44) are not exported.
Note
Note that if the XML data to be imported was exported from an ST source file that was know-
how protected: When importing the encrypted XML data, the know-how protection, including
login and password, is retained.
Note
If you use an external editor, the dynamic ST source file menu and its entries are not available.
The corresponding toolbar is also inactive.
It must be possible to start compilation of the ST source file from the external editor.
Program status (Page 309) continues with the ST editor.
NOTICE
Data loss possible
If you close a project or exit SIMOTION SCOUT before all windows of the external editor
have been closed, data can be lost!
Close all windows of the external editor before you close a project or exit SIMOTION SCOUT.
Function Meaning/Note
Close Select this command to close the active ST source file. In the event of changes, you can
decide whether you want to transfer the changed source file to the project.
Properties Select this command to display the properties of the active ST source file. Several tabs are
provided to make local settings for this source.
See: Changing the properties of an ST source file (Page 25).
Accept and compile Choose this command to transfer the current ST source file to the project and compile into
executable code.
See: Starting the compiler (Page 56).
Execute preprocessor As an option, the preprocessor scans an ST source file before compiling and can,
for example, replace character strings in the file, which will then be taken into account during
the compilation. You can specifically execute the preprocessor statements with this menu
command.
Export Select this command to export the active ST source file as text file (ASCII).
See: Exporting an ST source file as a text file (ASCII) (Page 69).
Split window Select this command to split the active window of the ST editor into two segments
horizontally, giving you two views of the same ST source file.
See: Splitting the editor window (Page 36).
Function Meaning/Note
Program status on/off Select this command to start the program status test mode. During the program execution,
you can monitor the values of the variables marked in the ST source.
The following prerequisites are necessary:
1. The program must be compiled with the appropriate compiler option.
2. The project and the program must be loaded into the target system.
3. An online connection to the target system must have been established.
Select the command again to close the program status.
See: Using the program status (Page 309).
Save variables You can save retain, unit and global variables with this menu command. You can save these
variables from the RAM/ROM memory of the target device and store them on a data medium
as XML file. When these variables are restored, they can be written from the data medium
to the RAM/ROM memory of the target device.
Restore variables You can restore retain, unit and global variables from the previously exported variables with
this menu command. When these variables are restored, they can be written from the data
medium to the RAM/ROM memory of the target device.
Function Meaning/information
Open Select this command to open the selected ST source file.
See: Opening an existing ST source file (Page 25).
Cut The selected ST source files are deleted and saved on the clipboard.
Copy The selected ST source files are copied to the clipboard.
Paste The contents of the clipboard are inserted in the selected folder.
Delete The selected ST source file is deleted, including all the data.
Rename Select this command in order to change the name of the selected ST source file.
Please note that with name changes, it is not possible to change the referencing
to this name and that the new name must comply with the Rules for identifiers
(Page 89).
Save variables You can save retain, unit and global variables with this menu command. You can
save these variables from the RAM/ROM memory of the target device and store
them on a data medium as XML file. When these variables are restored, they can
be written from the data medium to the RAM/ROM memory of the target device.
Restore variables You can restore retain, unit and global variables from the previously exported
variables with this menu command. When these variables are restored, they can
be written from the data medium to the RAM/ROM memory of the target device.
Expert
Function Meaning/information
Import object Select this command to import XML data to the selected ST source file from an
ST source file which you have previously exported to another project. The existing
data in the ST source file being imported is overwritten.
See: Importing XML data into an ST source file (Page 70).
Save project and export object Select this command to export the selected ST source file in XML format. You
can import the exported data into other projects.
See: Exporting an ST source file in XML format (Page 70).
Accept and compile Choose this command to transfer the current ST source file to the project and
compile into executable code.
See: Starting the compiler (Page 56).
Execute preprocessor As an option, the preprocessor scans an ST source file before compiling and can,
for example, replace character strings in the file, which will then be taken into
account during the compilation. You can specifically execute the preprocessor
statements with this menu command.
Program status on/off Select this command to start the program status test mode. During the program
execution, you can monitor the values of the variables marked in the ST source
file.
The following requirements are necessary:
1. The program must be compiled with the appropriate compiler option.
2. The project and the program must be loaded into the target system.
3. An online connection to the target system must have been established.
Select the command again to close the program status.
See: Using the program status (Page 309).
Export Select this command to export the selected ST source file as a text file (ASCII).
See: Exporting an ST source file as a text file (ASCII) (Page 69).
Know-how protection
Set Select this command to protect the selected ST source file from unauthorized
access by third parties. Protected ST source files can only be opened or exported
as plain text files by entering a password.
See: Know-how protection for ST source files (Page 67).
Delete Select this command to cancel the know-how protection for the selected source
file permanently. The password needs to be entered in order to do this.
See: Know-how protection for ST source files (Page 67).
Display reference data An error-free compilation is required for a correct, consistent display of the
reference data. If required, compile the project, the CPU, the program or the
library first.
See: Reference data (Page 269), creating a cross-reference list (Page 269).
Cross references The cross-reference list of the selected ST source file is generated and displayed.
The cross-reference list contains the declaration and uses all the identifiers for
the selected ST source file.
See: Content of the cross-reference list (Page 270).
Program structure The program structure of the selected ST source file is generated and displayed.
The program structure contains all the subprogram calls and their nesting within
the selected ST source file.
See: Content of the program structure (Page 274).
Function Meaning/information
Code attributes The code attributes of the selected ST source file are generated and displayed.
The code attributes contain information about the storage requirements of various
data areas of the selected ST source file.
See: Code attribute contents (Page 275).
Print Select this command to print the selected ST source file. You can choose whether
you wish to print the text of the ST source file and/or their properties.
Print preview Choose this command to generate a preview of the expected print output.
Properties Select this command to display the properties of the selected ST source file.
Several tabs are provided to make local settings for this source file.
See: Changing the properties of an ST source file (Page 25).
In this section, we create a short program to illustrate the steps involved, including starting and
testing. Testing is described in Program test (Page 291).
Function
The Flash program sets a bit in an output byte of your target system and rotates it within this
byte. This causes each bit of the output byte to be set and reset in succession. After the last
bit of the byte, the first bit is to be set again. You can observe the result of the program at the
outputs of your target system.
3.4.1 Requirements
To create the sample program, you need
● A SIMOTION project and
● A SIMOTION device (e.g. SIMOTION C240) within the project whose output is configured
at address 62.
Proceed as follows
If a project does not yet exist, proceed as follows:
1. Select Project in the menu bar.
2. Select New or Open.
3. Specify a name for a new project, and click OK to confirm.
For details, see the online help.
Proceed as follows
1. In the project navigator, open the tree for your SIMOTION device (programs are assigned
to the SIMOTION device on which they are to run).
2. Select the PROGRAMS folder and choose Insert > Program > ST source file.
3. Enter a name for the ST source file consisting of up to 128 characters (see figure), e.g.
ST_1, and click OK to confirm the entries.
The ST editor appears in the working area. The ST source file ST_1 is inserted in the
navigator.
4. Enter the source text from Source text of the sample program (Page 80), preferably with
indented lines. To do this, press the TAB key.
The features of the ST editor are described in Working with the ST editor (Page 27); the
structure of an ST source file is described in detail in Structure of the ST source file
(Page 101) and in Source file sections (Page 191).
5. Use comments as often as possible. Enter your comment after the // characters if the
comment fits on one line of text. If the comment extends across several lines, insert it
between character pairs (* and *).
6. Save the complete project with Project > Save.
● Source file printout in an appropriate layout with page number, source file name and printing
date
● Export/import of the source file
● Source file archiving (via the project)
A detailed description of the functions is contained in Working with the ST editor (Page 27)
and in Making settings for the compiler (Page 57).
IMPLEMENTATION
PROGRAM Flash
IF counterVar >= 500 THEN // in every 500th pass
%QB62 := outputVar; // set output byte
outputVar := ROL (in := outputVar, n := 1);
(* // rotate bit in byte
one digit to the left*)
counterVar := 0; // reset counter
END_IF;
counterVar := counterVar + 1; // increment counter
END_PROGRAM
END_IMPLEMENTATION
Before you can run or test your program, you must compile it into executable machine code.
The compiler performs this task.
1. Click in the window with the ST editor to display the ST source file menu. This menu is a
dynamic menu and is only displayed if the window of the ST editor is active.
2. Start the compiler by selecting the ST source file > Accept and compile menu command.
The figure shows an example of compiling the ST source file ST_1 (see Source text of the
sample program (Page 80), in which the following change has been made: The semicolon is
missing in the statement "counterVar := counterVar + 1" at the end of line 18.
The compiler does not detect the error until Line19, because it continues with the compilation
after the missing semicolon.
Once the missing semicolon is added, the ST source file is compiled without errors.
A detailed list of all compiler error messages can be found in Compiler error messages and
their correction (Page 393).
Before you can run the program, you must assign it to an execution level or task. When you
have done this, you can establish the connection to the target system, download the program
to the target system and then start it.
1. Select the Project > Connect to selected target devices menu command.
The Diagnostics overview tab is opened in the detail view. The diagnostics overview shows
you the operating state, memory allocation and CPU utilization for the device you are
connected to. You can see at the lower right edge of the screen that you are connected to
the target system.
Note
For more detailed information, refer to the SIMOTION SCOUT Configuration Manual and
SIMOTION SCOUT online help.
The Target system output window in the detail view opens and displays the result of the
download.
Syntax diagrams are used as a basis for the language description in the following sections of
the manual. They provide you with an invaluable insight into the syntactic (i.e. grammatical)
structure of ST.
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The syntax diagram in the previous figure is read from left to right. The following rule structures
must be observed:
● Sequence: Sequence of blocks
● Option: Statement(s) that can be skipped
● Iteration: Repetition of one or more statements
● Alternative: Branch
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Formatted and unformatted rules must be observed when entering source text, i.e. when
converting the blocks or elements of a syntax diagram into source text (see Help for the
language description (Page 335)).
See also
Formal Language Description (Page 335)
See also
Formal Language Description (Page 335)
The basic elements of the ST language include the ST character set, reserved identifiers
constructed from the ST character set (e.g. language commands), self-defined identifiers and
numbers.
The ST character set and the reserved identifiers are basic elements (terminals) as they are
described verbally and not by another rule. Self-defined identifiers and numbers are not
terminals as they are described by other rules.
In the syntax diagrams, terminals are represented by circles or oval symbols, while composite
elements are represented by rectangles (see Blocks in syntax diagrams (Page 88)). Below is
a selection of the main terminals; for a complete overview, refer to Basic elements
(terminals) (Page 337).
4.2.2 Identifiers in ST
Identifiers are names in ST. These names can be defined by the system, such as language
commands. However, the names can also be user-defined, for example, for a constant,
variable or function.
Valid identifiers
Identifiers are made up of letters (A … Z, a … z), numbers (0 … 9) or single underscores (_)
in any order, whereby the first character must be a letter or underscore.
No distinction is made between upper and lower case letters (e.g. Anna and AnNa are
considered to be identical by the compiler).
An identifier can by represented formally by the following syntax diagram:
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/HWWHU /HWWHU
B
/HWWHU 'LJLW
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'LJLW /HWWHU$=D]
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According to this syntax diagram, the first character of an identifier must be a letter or an
underscore. An underscore must be followed by a letter or number, i.e. more than one
underscore in succession is not allowed. This can be followed by any number or sequence of
underscores, letters or numbers. The only exception here again is that two underscores may
not appear together.
Reserved identifiers may only be used as predefined. You may not declare a variable or data
type, for example, with the name of a reserved identifier.
There is no distinction between upper and lower case notation.
● Protected identifiers in the ST programming language (Page 91)
● Reserved identifiers in the ST programming language (Page 96)
● Other reserved identifiers (Page 97), such as standard functions, system functions, system
variables
A list of all identifiers with a predefined meaning can be found in the SIMOTION Basic Functions
Function Manual.
A
ABS ANYTYPE_TO_LITTLEBYTEARRAY
ACOS ARRAY
AND AS
ANYOBJECT ASIN
ANYOBJECT_TO_OBJECT AT
ANYTYPE_TO_BIGBYTEARRAY ATAN
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BOOL BYTE
BOOL_TO_BYTE BYTE_TO_BOOL
BOOL_TO_DWORD BYTE_TO_DINT
BOOL_TO_WORD BYTE_TO_DWORD
BOOL_VALUE_TO_DINT BYTE_TO_INT
BOOL_VALUE_TO_INT BYTE_TO_SINT
BOOL_VALUE_TO_LREAL BYTE_TO_UDINT
BOOL_VALUE_TO_REAL BYTE_TO_UINT
BOOL_VALUE_TO_SINT BYTE_TO_USINT
BOOL_VALUE_TO_UDINT BYTE_TO_WORD
BOOL_VALUE_TO_UINT BYTE_VALUE_TO_LREAL
BOOL_VALUE_TO_USINT BYTE_VALUE_TO_REAL
C
CASE CTD_UDINT
CONCAT CTU
CONCAT_DATE_TOD CTU_DINT
CONSTANT CTU_UDINT
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D
DATE DO
DATE_AND_TIME DT
DATE_AND_TIME_TO_DATE DT_TO_DATE
DATE_AND_TIME_TO_TIME_OF_DAY DT_TO_TOD
DELETE DWORD
DINT DWORD_TO_BOOL
DINT_TO_BYTE DWORD_TO_BYTE
DINT_TO_DWORD DWORD_TO_DINT
DINT_TO_INT DWORD_TO_INT
DINT_TO_LREAL DWORD_TO_REAL
DINT_TO_REAL DWORD_TO_SINT
DINT_TO_SINT DWORD_TO_UDINT
DINT_TO_STRING DWORD_TO_UINT
DINT_TO_UDINT DWORD_TO_USINT
DINT_TO_UINT DWORD_TO_WORD
DINT_TO_USINT DWORD_VALUE_TO_LREAL
DINT_TO_WORD DWORD_VALUE_TO_REAL
DINT_VALUE_TO_BOOL
E
ELSE END_REPEAT
ELSIF END_STRUCT
END_CASE END_TYPE
END_EXPRESSION END_VAR
END_FOR END_WAITFORCONDITION
END_FUNCTION END_WHILE
END_FUNCTION_BLOCK ENUM_TO_DINT
END_IF EXIT
END_IMPLEMENTATION EXP
END_INTERFACE EXPD
END_LABEL EXPRESSION
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INT_TO_LREAL INTERFACE
INT_TO_REAL
L
LABEL LREAL_TO_REAL
LEFT LREAL_TO_SINT
LEN LREAL_TO_STRING
LIMIT LREAL_TO_UDINT
LITTLEBYTEARRAY_TO_ANYTYPE LREAL_TO_UINT
LN LREAL_TO_USINT
LOG LREAL_VALUE_TO_BOOL
LREAL LREAL_VALUE_TO_BYTE
LREAL_TO_DINT LREAL_VALUE_TO_DWORD
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REAL_TO_INT REPLACE
REAL_TO_LREAL RETAIN
REAL_TO_SINT RETURN
REAL_TO_STRING RIGHT
REAL_TO_TIME ROL
REAL_TO_UDINT ROR
REAL_TO_UINT RS
REAL_TO_USINT RTC
REAL_VALUE_TO_BOOL
S
SEL SINT_TO_WORD
SHL SINT_VALUE_TO_BOOL
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SINT_TO_DWORD STRING_TO_REAL
SINT_TO_INT STRING_TO_UDINT
SINT_TO_LREAL STRUCT
SINT_TO_REAL StructAlarmId
SINT_TO_UDINT STRUCTALARMID_TO_DINT
SINT_TO_UINT StructTaskId
SINT_TO_USINT
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TO TYPE
U
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UDINT_TO_DINT UINT_TO_WORD
UDINT_TO_DWORD UINT_VALUE_TO_BOOL
UDINT_TO_INT UNIT
UDINT_TO_LREAL UNTIL
UDINT_TO_REAL USELIB
UDINT_TO_SINT USEPACKAGE
UDINT_TO_STRING USES
UDINT_TO_UINT USINT
UDINT_TO_USINT USINT_TO_BYTE
UDINT_TO_WORD USINT_TO_DINT
UDINT_VALUE_TO_BOOL USINT_TO_DWORD
UINT USINT_TO_INT
UINT_TO_BYTE USINT_TO_LREAL
UINT_TO_DINT USINT_TO_REAL
UINT_TO_DWORD USINT_TO_SINT
UINT_TO_INT USINT_TO_UDINT
UINT_TO_LREAL USINT_TO_UINT
UINT_TO_REAL USINT_TO_WORD
UINT_TO_SINT USINT_VALUE_TO_BOOL
V
VAR VAR_OUTPUT
VAR_GLOBAL VAR_TEMP
VAR_IN_OUT VOID
VAR_INPUT
W
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WITH WORD_TO_UDINT
WORD WORD_TO_UINT
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WORD_TO_DINT WORD_VALUE_TO_REAL
WORD_TO_DWORD
X
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ACTION ADD_TIME
ADD ADD_TOD_TIME
ADD_DT_TIME
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BCD_TO_DWORD BCD_TO_WORD
BCD_TO_INT BYTE_TO_BCD
C
CONFIGURATION CTU_ULINT
CTD_LINT CTUD_LINT
CTD_ULINT CTUD_ULINT
CTU_LINT
D
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DIV DWORD_TO_BCD
E
EN END_STEP
END_ACTION END_TRANSITION
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T
TRANSITION
U
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V
VAR_ACCESS VAR_EXTERNAL
VAR_ALIAS VAR_OBJECT
W
WORD_TO_BCD
A list of all identifiers with a defined meaning can be found in the SIMOTION Basic Functions
Function Manual.
Numbers can be written in various ways in ST. A number can contain a sign, a decimal point
or an exponent. The following rules apply to all numbers:
● Commas and blanks may not appear within a number.
● An underscore ( _ ) is allowed as a visual separator.
● The number can be preceded by a plus ( + ) or minus ( – ). If no sign is used, it is assumed
that the number is positive.
● Numbers may not violate certain maximum and minimum values.
4.2.4.1 Integers
An integer contains neither a decimal point nor an exponent. An integer is thus a sequence of
numeric digits that can be preceded with a sign.
The following are valid integers:
0 1 +1 -1
743 -5280 60_000 -32_211_321
In ST, you can represent integers in different number systems. This is achieved by inserting
a keyword prefix for the number system.
The following are used:
● 2# for the binary system
● 8# for the octal system
● 16# for the hexadecimal system.
Valid representations of the decimal number 15 are:
1. A numeric digit must be present before the decimal point and after the
decimal point.
1,000.0 Commas are not permitted.
1,333,333 Two points are not permitted.
4.2.4.3 Exponents
An exponent can be included to define the position of the decimal point. If no decimal point
appears, it is assumed that it is on the right side of the digit. The exponent itself must be either
a positive or negative integer. Base 10 is expressed by the letter E.
The magnitude 3 x 108 can be represented in ST by the following correct floating-point numbers:
3.E+8 A numeric digit must be present before the decimal point and after the decimal
point.
8e2.3 The exponent must be an integer.
.333e-3 A numeric digit must be present before the decimal point and after the decimal
point.
30 E8 Blanks are not permitted.
a := 1; // corresponds to a := TRUE
b := FALSE; // corresponds to b := 0
Note
Floating-point numbers can only be assigned to data types REAL and LREAL.
● As printable characters (ASCII code $20 to $7E, $80 to $FF), except the dollar signs (ASCII
code $24) and apostrophe (ASCII code $27), as these have a special function within the
string
● As the two-digit hexadecimal ASCII code of the relevant character preceded by the dollar
sign ($)
● As a combination of two characters according to the following table:
Examples:
An ST source basically consists of continuous text. This text can be structured by dividing it
into logical sections. Detailed rules for this can be found in Source file modules (Page 191).
A brief summary is given below:
● An ST source file is a logical unit that you create in your project and that can appear several
times. It is often referred to as a unit.
● The logic sections of an ST source file are called Sections (see table).
● A user program is the sum of all program sources (e.g. ST source files, MCC units).
Each logical section of the ST source file has a beginning and end denoted by specific
keywords:
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You do not have to program every function yourself. You can also make use of SIMOTION
system components. These are preprogrammed sections such as system functions or the
functions of the technology objects (TO functions).
Note
An extensively annotated template for example unit is also available in the online Help. You
can use it as a template for a new ST source file.
Call the ST editor Help and click the relevant link. Copy the text to the open window of the
ST editor and modify the template according to your requirements.
Template for example unit contains a copy of this template.
4.3.1 Statements
The statement section of a program organization unit (POU – program, function, function block)
consists of repeated single statements. It follows the declaration section of a POU and ends
with the end of the POU. There are no explicit keywords for the start and end.
There are three basic types of statements in ST:
● Value assignments
Assignment of an expression to a variable; see Variables declaration (Page 126)
● Control statements
Repetition or branching of statements; see Control statements (Page 150)
● Subroutine execution
Functions (FC) and function blocks (FB); see Functions, function blocks, programs
(Page 167)
// Control statement
IF a = b THEN
FOR c := 1 TO 10 DO
b := b + c;
END_FOR;
END_IF;
// Function call
retVal := Test1(10.0);
...
4.3.2 Comments
Comments are used for documentation purposes and to help the user understand the source
file section. After compilation, they have no meaning for the program execution.
There are two types of comments:
● Line comment
● Block comment
The line comment is preceded by //. The compiler will process the text which follows until the
end of the line as a comment.
You can enter a block comment over several lines if it is preceded by (* and ends with *).
Please note the following when inserting comments:
● You can use the complete extended ASCII character set in comments.
● The character pairs (* and *) are ignored within the line comment.
● Nesting of block comments is not allowed. However, you can nest line comments in block
comments.
● Comments can be inserted at any position, but not in rules that have to be maintained, such
as in names of identifiers. For more information about these rules, refer to Help for the
language description (Page 335).
A data type is used to determine how the value of a variable or constant is to be used in a
program source.
The following data types are available to the user:
● Elementary data types (Page 104)
● User-defined data types (UDT) (Page 108)
– Simple derivatives
– Arrays
– Enumerators
– Structures (Struct)
● Technology object data types (Page 123)
● System data types (Page 125)
Elementary data types define the structure of data that cannot be broken down into smaller
units. An elementary data type describes a memory area with a fixed length and stands for bit
data, integers, floating-point numbers, duration, time, date and character strings.
All the elementary data types are listed in the table below:
Table 4-7 Bit widths and value ranges of the elementary data types
Note
During variable export to other systems, the value ranges of the corresponding data types in
the target system must be taken into account.
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Note
You cannot use general data types as type identifiers in variable or type declarations.
The general data type is retained when a user-defined data type (UDT) is derived directly
from an elementary data type (only possible with the SIMOTION ST programming language).
Table 4-11 Symbolic constants for invalid values of elementary system data types
User-defined data types (UDT) are created with the construct TYPE/END_TYPE in the
declaration subsections of subsequent source file modules (see Breakdown of ST source file
(Page 101) and Source file modules (Page 191)):
● Interface section
● Implementation section
● Program organization unit (POU)
You can continue to use the data types you created in the declaration section. The source file
section determines the range of the type declaration.
See also
Syntax of user-defined data types (type declaration) (Page 109)
Derivation of elementary or derived data types (Page 110)
Derived data type ARRAY (Page 111)
Derived data type - Enumerator (Page 114)
Derived data type STRUCT (structure) (Page 115)
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1. Name:
The name of the data type must comply with the rules for identifiers.
2. Data type specification
The term data type comprises, see Derivation of elementary or derived data types
(Page 110):
– Elementary data types
– Previously declared UDTs
– TO data types
– System data types
The following data type specifications are also possible:
– ARRAY data type specification, see Derived data type ARRAY - array (Page 111)
– Enumerator data type specification, see Derived data type enumeration – enumerator
(Page 114)
– STRUCT data type specification, see Derived data type STRUCT – structure
(Page 115)
The references in brackets refer to the following sections, in which the respective data type
specification is described in detail.
3. Optional initialization:
You can specify an initialization value for the data type. If you subsequently declare a
variable of this data type, the initialization value is assigned to the variable.
Exception: With the STRUCT data type specification, each individual component is
initialized within the data type specification.
See also Initialization of variables or data types (Page 129).
The complete UDT declaration is terminated with the keyword END_TYPE. You can create
any number of data types within the TYPE/END_TYPE construct. You can use the defined
data types to declare variables or parameters.
UDTs can be nested in any way as long as the syntax in the figure is observed. For example,
you can use previously defined UDTs or nested structures as a data type specification. Type
declarations can only be used sequentially and not in nested structures.
Note
You can learn how to declare variables and parameters in Overview of all variable
declarations (Page 127), and how to assign values with UDT in Syntax for value
assignment (Page 134).
Below is a description of individual data type specifications for UDTs and examples
demonstrating their use.
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● The array limits specify the minimum and maximum value for the index. They can be
specified using constants or constant expressions; the data type is DINT (or can be implicitly
converted to DINT – see Converting elementary data types (Page 163)).
● The array limits must be separated by two periods.
● The entire index specification is enclosed in square brackets.
● The index itself can be an integer value of data type DINT (or it can be implicitly converted
to DINT – see Converting elementary data types (Page 163)).
Note
If array limits are violated during runtime, a processing error occurs in the program (see the
"SIMOTION Basic Functions" Function Manual).
You specify the data type of the array elements with the data type specification (basic data
type). All of the options described in this section can be used as data types, for example, even
user-defined data types (UDT).
You can define the size of the memory space occupied by the ARRAY with _sizeOf (in := array-
name). The following applies: _sizeOf (in := array_of_type) :=
_lengthIndexOf (in := array_of_type) * _sizeOf (in := type).
The syntax of these functions is described in the "SIMOTION Basic Functions" Function
Manual.
Note
As of SIMOTION Kernel version V4.2, you can declare arrays with a dynamic length as in-
out parameters in functions and function blocks. For more information, refer to the
corresponding section (Page 173) for the FB and FC declaration subsection (Page 169).
Two-dimensional arrays are comparable to a table with lines and columns. You can create
two- or multi-dimensional arrays by means of a multi-level type declaration, see example:
VAR
m : matrix1; // Variable m of data type
// Two-dimensional array
n : matrix2; // Variable n of data type
// Two-dimensional array
END_VAR
Redeclaration
The data type definitions of arrays are recognized as identical (even in different sources) if the
following conditions are met:
1. The identifier of the data type is identical.
2. Both array limits are identical.
3. The data type of the array elements is identical.
4. The optional array initialization list is identical (including repeat factors and constant
expressions).
Initialization
Per default, the array elements are assigned the initialization value of the basic data type.
Optionally the initialization value of the array element can be changed by assigning an array
initialization list enclosed in square brackets [ ], see"Initialization of variables or data types"
(Page 129).
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Once you have declared the identifier data type, you can define variables in the enumeration
data type. In the statement section, you can assign only elements from the list of defined
identifiers (enumeration elements) to these variables.
You can also specify the data type directly: Place the enumeration data type identifier and the
"#" sign in front of the enumeration element (see Table Examples of enumeration data types).
You can obtain the first and last value of an enumeration data type with enum_type#MIN and
enum_type#MAX respectively, whereby enum_type is the enumeration data type identifier.
You can obtain the numeric value of an enumeration element with the ENUM_TO_DINT
conversion function.
Example
VAR
myC11, myC12, myC13 : C1;
END_VAR
myC11 := GREEN;
myC1l := C1#GREEN;
myC12 := C1#MIN; // RED
myC13 := C1#MAX; // BLUE
Note
You will also find enumeration data types as system data types.
Enumeration data types can be components of a structure, meaning that they can be found
at any lower level in the user-defined data structure.
Redeclaration
The data type definitions of enumeration data types are recognized as identical (even in
different sources) if the following conditions are met:
1. The identifier of the data type is identical.
2. All enumeration elements are identical.
3. The sequence of the enumeration elements is identical, so their numerical values are
identical.
4. The optional initialization value is identical.
Initialization
Per default, an enumeration data type is assigned the 1st value of the enumeration as
initialization value. Optionally the initialization value can be changed by assigning another
enumeration element, see"Initialization of variables or data types" (Page 129).
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Component declaration
Usually, a structure contains the definitions of the individual components between the
keywords STRUCT and END_STRUCT.
The syntax of the component declaration is shown in the following figure. The components are
arranged in the order of their declaration with this syntax. The relative addresses of the
components within the structure are assigned automatically by the compiler.
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Note
The following data type specifications cannot be used directly within a component declaration:
● STRUCT data type specifications
● Enumeration data type specifications
Remedy:
Declare a UDT (user-defined data type) beforehand with the above-mentioned specifications
and use this in the component declaration.
This allows you to nest STRUCT data types.
You will also find STRUCT data types as system data types.
Example
This example shows how a UDT is defined and how this data type is used within a variable
declaration.
VAR
myS1 : S1;
END_VAR
myS1.var1 := -4;
myS1.var4 := T#2d_2h_20m_33s_2ms;
Redeclaration
The data type definitions of structures are recognized as identical (even in different sources)
if the following conditions are met:
1. The identifier of the data type is identical.
2. All components of the structure are identical in terms of their:
– Sequence
– Identifier
– Data types or ARRAY data type specifications
– Initialization values (including any array or structure initialization lists)
Initialization
Per default, each component is assigned the initialization value of its data type. Optionally, the
initialization value of the component can be changed by assigning an appropriate initialization.
When using the structure in another declaration (e.g. variable or data type declaration), the
initialization values of individual components can be changed by assigning a structure
initialization list, enclosed in round brackets ( ).
See "Initialization of variables or data types" (Page 129).
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If you specify relative addresses of the structure components, you must do this for all
components of this structure.
The permissible relative addresses of the components depends on their data type, see
following table:
If the above addressing rules are violated, the compiler issues an error message which
indicates the required divisor.
The declaration order of the components is arbitrary when specifying the relative addresses.
The structure in the following example is identical to that in the previous example.
The address ranges of the components must not overlap except when the structure is declared
with the keyword STRUCT OVERLAP, see following section.
The syntax diagram for the component declaration with relative address (see above) applies
for the component declaration. See Table "Permissible addresses and length of various data
types" for the permissible addresses.
If the address ranges of two components overlap, the following data types are not permitted
in these components:
● STRING
● ANYOBJECT
● TO data type
They are permitted in components whose address ranges do not overlap. For example, the
following declaration is permitted:
Note
The declaration of a structure with overlapping ARRAY OF BYTE, as specified in the
examples, does not replace the marshalling functions. The byte order (Little Endian or Big
Endian) depends on the respective SIMOTION device. For information on the Little Endian
and Big Endian byte order as well as the marshalling functions, see SIMOTION Basic
Functions Function Manual.
Note
Hidden components can used in the programming. In the ST editor, they are shown in the
"Automatic completion" (Page 46) function.
You can monitor individual hidden components in a watch table (Page 302), see the
appropriate information in Section "Using a watch table" (Page 302).
As an example, the visible components of the following structure declaration are explained in
the table below.
The following examples of a structure declaration explain the behavior of the visible and hidden
components. The visible components and the associated relative addresses are specified in
the following table.
Relative address
0 1 2 3 4 5 6 7 8 9
Declared a b c
components ar[0] ar[1] ar[2] ar[3] ar[4] ar[5] ar[6]
Visible ar[0] ar[1] ar[2] ar[3] ar[4] ar[5] ar[6] - c
components
Relative address
0 1 2 3 4 5 6 7 8 9
Declared ar[0] ar[1] ar[2] ar[3] ar[4] ar[5] ar[6]
components a b c
Visible a - - - - b c
components
Relative address
0 1 2 3 4 5 6 7 8 9
Declared a b c
components ar[0] ar[1] ar[2] ar[3] ar[4] ar[5] ar[6]
Initialization value 16#01 16#01 16#01 16#01 16#01 16#01 16#01 16#00 16#CCCC
Relative address
0 1 2 3 4 5 6 7 8 9
Declared ar[0] ar[1] ar[2] ar[3] ar[4] ar[5] ar[6]
components a b c
Initialization value 16#AAAA 16#00 16#00 16#00 16#00 16#BBBB 16#CCCC
Table 4-22 Symbolic constants for invalid values of technology object data types
See also
Inheritance of the properties for axes (Page 124)
Examples of the use of technology object data types (Page 124)
Table 4-23 Example of the use of a data type for technology objects
VAR
myAxis : posAxis; // Declaration variable for axis
myPos : LREAL; // Variable for position of axis
retVal: DINT; // Variable for return value of the
// TO function
END_VAR
myAxis := Axis1; // The name Axis1 was defined when the axis
// was configured in the project navigator.
// Axis is positioned.
retVal := _pos(axis := myAxis,
position := 100,
commandId:= _getCommandId() );
The second example does not use a variable with TO data type.
// Axis is positioned.
retVal := _pos(axis := Axis1
position := 100,
commandId:= _getCommandId() );
You will find details for configuration of technology objects in the SIMOTION Motion Control
function descriptions.
A variable defines a data item with variable contents that can be used in the ST source file. A
variable consists of an identifier (e.g. myVar1) that can be freely selected and a data type (e.g.
BOOL). Reserved identifiers (see Reserved identifiers (Page 91)) must not be used as
identifiers.
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● The variable name must be an identifier, i.e. it can only contain letters, numbers or an
underscore, but not special characters.
● The following are permissible as data types:
– Elementary data types
– UDT (user-defined data types)
– System data types
– TO data types
– ARRAY data type specifications
– Designation of a function block (instance declaration – see Calling functions and function
modules (Page 174)).
● You can assign initial values to the variables in the declaration statement. This is known
as initialization (see Initialization of variables or data types (Page 129)).
Deviations from the pattern presented are as follows:
● For constant declarations (a constant must be initialized with a value, see Constants
(Page 132)),
● For process image access (see Overview of all variable declarations (Page 127)):
– A variable declaration is not required for absolute process image access,
– Initialization is not permitted for symbolic process image access.
VAR
// Declaration of a variable ...
var1 : REAL;
// ... or if there are several variables of the same type:
var2, var3, var4 : INT;
// Declaration of a one-dimensional array:
a1 : ARRAY[1..100] OF REAL;
// Declaration of a character string:
str1 : STRING[40];
END_VAR
The source file section also determines which variables you can declare (see table), as well
as their range.
For additional information about source file modules, refer to Breakdown of ST source file
(Page 101) and Source file modules (Page 191).
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The initialization value assigned to a variable is calculated from the constant expression at the
time of the compilation. For information about the syntax of the constant expression, see the
figure titled Syntax: Constant expression.
Note that a variable list (a1, a2, a3, .. : INT := .. ) can be initialized with a common value. In
this case, you do not have to initialize the variables individually (a1 : INT := .. ; a2 : INT := .. ;
etc.).
Note
The constant expressions used for initialization are calculated in the data type of the declared
variables or in the declared data type.
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Variables of a technology object data type cannot be assigned an initialization value. They are
always initialized by the compiler with TO#NIL.
Information about the circumstances when variables are initialized can be found in Section
"Time of the variable initialization" (Page 221).
4.5.4 Constants
Constants are data with a fixed value that you cannot change during program runtime.
Constants are declared in the same way as variables:
● In the declaration section of a POU for local constants (see Figure Syntax: Constant block
in a POU and syntax: Constant declaration).
● In the interface or implementation section of the ST source file for unit constants (see Figure
Syntax: Unit constants in the interface or implementation section and syntax: Constant
declaration). You can import unit constants declared in the interface section into other ST
source files (see Variable model (Page 208)).
The source file section also determines the range of the constant declaration.
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To initialize a constant, see "Initialization of variables or data types (Page 129)". The value
assigned to a constant is calculated from the constant expression at the time of compilation.
You have no doubt already created value assignments with the character string :=. This may
have been for a statement as part of an example (see table titled Examples of statements in
Statements (Page 103)) or when initializing variables in the declaration subsection of a source
file module.
However, this is only a small range of the options available for formulating value assignments.
This section of the manual now describes this important topic in detail using a large number
of examples for illustration purposes.
See also
Notes on avoiding errors and on efficient programming (Page 291)
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The following contains explanations and examples for the left side of the value assignment:
elemVar := 3*3;
elemVar := elemVar1;
See also
Value assignments with variables of a bit data type (Page 137)
4.6.1.3 Value assignments with variables of the STRING elementary data type
string20 := 'ABCDEFG';
string20 := string30;
byteVar := string20[5];
string20[10] := byteVar;
Editing strings
Various system functions are available for the editing of strings, such as the joining of strings,
replacement and extraction of characters, see SIMOTION Basic Functions Function Manual.
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END_VAR
b := dw.BIT_7; // Access to Bit 7
b := dw.3; // Access to Bit 3
// b := dw.33; // Compilation error;
// Bit 33 not permitted.
END_FUNCTION
Note
The access to bits of an I/O variable or system variable can be interrupted by other tasks.
There is therefore no guarantee of consistency.
Logic operators
Variables of the bit data types can be combined with logic operators; see Logic expressions
and bit-serial expressions (Page 148).
4.6.1.5 Value assignments with variables of the derived enumerator data type
Each expression and each variable of the derived enumerator data type (see also: Derived
enumerator data type (Page 114)) can be assigned to another variable of the same type.
type1 := BLUE;
4.6.1.6 Value assignments with variables of the derived ARRAY data type
An array consists of several dimensions and array elements, all of the same type (see also:
Derived ARRAY data type (Page 111)).
There are various ways to assign arrays to variables. You can assign complete arrays,
individual elements, or parts of arrays:
● A complete array can be assigned to another array if both the data types of the components
and the array limits (the smallest and largest possible array indices) are the same. Valid
assignments are:
array_1 := array_2;
● An individual array element is addressed by the array name followed by the index value in
square brackets. An index must be an arithmetic expression of the data type SINT, USINT,
INT, UINT or DINT.
● A value assignment for a valid subarray can be obtained by omitting a pair of square
brackets for each dimension of the array, starting at the right. This addresses a partial area
of the array whose number of dimensions is equal to the number of remaining indices (see
example below).
Consequently, you can reference rows and individual components within a matrix but not
closed columns (closed in the sense of from...to). Valid assignments are:
4.6.1.7 Value assignments with variables of the derived STRUCT data type
Variables of a user-defined data type that contain STRUCT data type specifications are called
structured variables (see also Derived STRUCT data type (Page 115)). They can either
represent a complete structure or a component of this structure.
Valid parameters for a structure variable are:
There are two ways to assign structures to variables. You can reference complete structures
or structure components:
● A complete structure can only be assigned to another structure if the data type and the
name of both structure components match.
A valid assignment is:
struct1 := struct2;
struct1.elem1 := Var1;
struct1.elem1 := 20;
struct1.elem1 := struct2.elem1;
struct1.array1 := struct2.array1;
struct1.array1[10] := 100;
Note
You also use structured variables in the FBInstanceName.OutputParameter format, e.g.
myCircle.circumference to access the output variables of a function block, i.e. the result of
the function block. For more detailed information about function blocks, refer to the
explanations in Defining functions (Page 167) and Defining function blocks (Page 168).
A further application of structured variables is to access TO variables and the variables of
the basic system.
4.6.2 Expressions
An expression represents a value that is calculated when the program is compiled or executed.
It consists of operands (e.g. constants, variables or function values) and operators (e.g. *, /,
+, -).
The data types of the operands and the operators involved determine the expression type.
ST uses the following types of expression:
● Arithmetic expressions (Page 143)
● Relational expressions (Page 146)
● Logic expressions and bit-serial expressions (Page 148)
● The expression calculated and the variable to be assigned are of the same data type.
● The data type of the calculated expression can be implicitly converted to the data type of
the variable to be assigned.
For more information on this error source and its solution, see SIMOTION Basic Functions
Function Manual.
Note
Expressions containing only the following elements can be used for variable initialization and
index specification in ARRAY declarations (for initialization expressions – see Figure Syntax:
Constant expression in Initialization of variables or data types (Page 129)):
● Constants
● Basic arithmetic operations
● Logic and relational operations
● Bit string standard functions
The constant expressions used for initialization are calculated in the data type of the declared
variables or in the declared data type.
4.6.3 Operands
Definition
Operands are objects which can be used to formulate expressions. Operands can be
represented by the syntax diagram:
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Some of the General data types (Page 107) are used here.
Note
Further operations are possible with standard numeric functions, see Standard numeric
functions in the SIMOTION Basic Functions Function Manual.
It is recommended to enclose negative numbers in parentheses, even in cases where it is
not absolutely necessary, in order to enhance legibility.
The arithmetic operators are processed in accordance with their rank (Page 150).
DT TIME DT
DT DT TIME9)
1)
The data type of the result (unless explicitly stated) is the lowest common data type to which both
operands can be implicitly converted.
2)
The 1. operand must be greater than zero.
Exceptions as of Version V4.1 of the SIMOTION Kernel:
– If the 2. operand is an integer, the 1. operand can be less than zero.
– If the 2. operand is positive, the 1. operand can be equal to zero.
The following applies up to Version V4.0 of the SIMOTION Kernel: If the 1. operand is equal to zero,
an error message can be caught with ExecutionFaultTask.
3)
Data type of 1. operand.
4)
Other than BOOL data type. The calculation is made using the unsigned integer of the same bit width.
5)
The 2. operand must not be equal to zero.
6)
Addition, possibly with overflow.
7)
Addition with date correction.
8)
Restriction of TIME to TOD before calculation.
9)
These operations are based on the modulo of the maximum value of the TIME data type.
Note
If the limits of the value range are exceeded in operations with variables of the general
ANY_REAL data type, the result contains the equivalent bit pattern according to IEEE 754.
In order to establish whether the value range was exceeded in the operation, you can verify
the result using the function _finite (see SIMOTION Basic Functions Function Manual).
Expression Value
i + j 8
i - j 14
i * j -33
i MOD j -2
i / j -3
Some expressions with these variables and their values are shown in the example.
Expression Value
t1 + t2 T#3D_3H_3M_3S_3MS
dt1 + t1 DT#2004-01-12-12:12:12.111
t1 - t2 T#48D_16H_1M_46S_295MS
t1 * 2 T#2D_2H_2M_2S_2MS
t1 / 2 T#12H_30M_30S_500MS
DATE_AND_TIME_TO_TIME_OF_DAY(dt1) TOD#11:11:11.110
DATE_AND_TIME_TO_DATE(dt1) D#2004-01-11
Definition
A relational expression is an expression of the BOOL data type formed with relational operators
(see figure).
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Relational operators compare the values of 2 operands (see table) and return a Boolean value
as result.
1st Operand Operator 2nd Operand -> Boolean value
Operator Meaning
> 1. operand is greater than the 2nd operand
< 1. operand is less than the 2nd operand
>= 1. operand is greater than or equal to the 2nd operand
<= 1. operand is less than or equal to the 2nd operand
= 1. operand is equal to the 2nd operand
<> 1. operand is not equal to the 2nd operand
Table 4-35 Relational expressions: Permissible combinations of the data types and relational
operators
1) The comparison is made in the lowest common data type to which both operands can be implicitly
converted.
2) Variables of the STRING data type can be compared irrespective of the declared length of the string.
To compare two variables of the STRING data type with different lengths, the shorter character string is
expanded to the length of the longer character string by inserting $00 on the right-hand side. The
comparison starts from left to right and is based on the ASCII code of the respective characters.
Example: ’ABC’ < ’AZ’ < ’Z’ < ’abc’ < ’az’ < ’z’.
3) Data type of the 1. operand.
Relational expressions and variables or constants of the BOOL data type can be combined
with logic operators to form logic expressions (see Logic expressions and bit-serial
expressions (Page 148)). This enables the implementation of queries such as If a < b and b <
c, then ….
Note
Relational operators have a higher priority than logic operators in an expression (see Operator
priority (Page 150)). Therefore the operands of a relational expression must be placed in
brackets if they themselves are logic expressions or bit-serial expressions.
Note that errors can occur when comparing REAL or LREAL variables (also the
corresponding system variables, e.g. axis position).
Definition
With the logic operators AND, &, XOR, and OR, it is possible to combine operands and
expressions of the general data type ANY_BIT (BOOL, BYTE, WORD, or DWORD).
With the logic operator NOT it is possible to negate operands and expressions of data type
ANY_BIT.
The table provides information about the available operators:
Examples
Expression Value
2#01010101 AND 2#11110000 2#01010000
2#01010101 OR 2#11110000 2#11110101
2#01010101 XOR 2#11110000 2#10100101
NOT 2#01010101 2#10101010
Lowest
Few source file sections can be programmed such that all statements are executed in
sequence from start to end. Usually, some statements will be executed only if a condition is
true (alternatives) and some will be executed repeatedly (loops). Program control statements
within a source file section are the means for accomplishing this.
4.7.1 IF statement
Description
The IF statement is a conditional statement. It specifies one or more options and selects one
(or none) of its statement sections for execution.
The specified logic expressions are evaluated when the conditional statement is executed. If
the value of an expression is TRUE, the condition is fulfilled, if the value is FALSE, it is not
fulfilled.
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Sequence of execution
The IF statement is processed according to the following rules:
1. If the value of the first expression is TRUE, the statement section after the THEN is
executed.
The program is subsequently resumed after the END_IF.
2. If the value of the first expression is FALSE, the expressions in the ELSIF branches are
evaluated. If a Boolean expression in one of the ELSIF branches is TRUE, the statement
section following THEN is executed.
The program is subsequently resumed after the END_IF.
3. If none of the Boolean expressions in the ELSIF branches is TRUE, the sequence of
statements after the ELSE is executed (or, if there is no ELSE branch, no further statements
are executed).
The program is subsequently resumed after the END_IF.
Any number of ELSIF statements can be programmed.
Note that there may not be any ELSIF branches and/or ELSE branch. This is interpreted in
the same way as if the branches existed with no statements.
Note
An advantage of using one or more ELSIF branches rather than a sequence of IF statements
is that the logic expressions following a valid expression are no longer evaluated. This helps
to reduce the processing time required for the program and to prevent execution of unwanted
program routines.
Example
The following example illustrates the use of the IF statement:
Description
The CASE statement is used to select 1 of n program sections.
This selection determines a selection expression (selector):
● Expression of general data type ANY_INT
● Variable of an enumeration data type (enumerator)
The selection is made from a list of values (value list), whereby a section of the program is
assigned to each value or group of values.
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Sequence of execution
The CASE statement is processed according to the following rules:
1. The selection expression (selector) is calculated. It must return a value of general data type
ANY_INT (integer) or an enumeration data type.
2. Then a check is performed to determine whether the selector value is contained in the value
list. Each value in the list represents one of the allowed values for the selection expression.
3. If a match is found, the program section assigned in the list is executed.
4. The ELSE branch is optional. It is executed if no match is found.
5. If the ELSE branch is missing and no match is found, the program is resumed after
END_CASE.
Value list
The value list contains the allowed values for the selection expression.
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Note
A value should only occur once in the value lists of a CASE statement.
In the event of multiple occurrence of a value, the compiler will issue an alarm, and only the
section of the statement corresponding to the value list in which the value occurred first is
executed.
Example
The following example illustrates the use of the CASE statement:
Description
A FOR statement or a repeat statement executes a series of statements in a loop, whereby
values are assigned to a variable (a count variable) on each pass. The count variable must be
a local variable of type SINT, INT or DINT.
The definition of a loop with FOR includes the specification of a start and end value. Both
variables must be the same data type as the count variable.
Note
You use the FOR statement when the number of loop passes is known at the programming
stage.
If the number of cycles is not known, the WHILE or REPEAT statement is more suitable, see
WHILE statement (Page 157) and REPEAT statement (Page 158).
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Sequence of execution
The FOR statement is processed according to the following rules:
1. At the start of the loop, the count variable is set to the start value and is increased (positive
increment) or decreased (negative increment) by the specified increment after each loop
pass until the end value is reached. After the first loop pass, the content of the count variable
is known as the current value.
2. On each pass, the system checks whether the following conditions are true:
– Start value or current value <= end value (for positive increment) or
– Start value or current value >= end value (for negative increment)
If the condition is fulfilled, the sequence of statements is executed.
If the condition is not fulfilled, the loop and, thus, the sequence of statements is skipped
and the program is resumed after END_FOR.
3. If the FOR loop is not executed due to Step 2, the count variable retains the current value.
Rules
The following rules apply to the FOR statement:
● The BY [increment] specification can be omitted. If no increment is specified, the default is
+1.
● The start value, end value and increment are expressions, see Expressions (Page 140).
The expression is evaluated once at the beginning of the FOR statement.
● If the start value and end value are of the data type DINT, the amount from (end value - start
value) must be less than DINT#MAX (2**31 - 1), see also Value range limits of elementary
data types (Page 106).
● The count variable contains the value which triggers the loop exit, i.e. it is incremented
before the loop is exited.
● During the loop execution, the count variable (current value) as well as the start value, the
end value and the increment must not be changed.
Example
The following example illustrates the use of the FOR statement:
Description
The WHILE statement allows a sequence of statements to be executed repeatedly under the
control of an iteration condition. The iteration condition is formulated in accordance with the
rules for a logic expression.
Note
You use the WHILE statement when the number of loop passes is not known at the
programming stage.
If the number of passes is known, the FOR statement (Page 155) is more suitable.
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The statement section after DO is repeated until the iteration condition has the value TRUE.
Sequence of execution
The WHILE statement is processed according to the following rules:
1. The iteration condition is evaluated each time before the statement section is executed.
2. If the value is TRUE, the statement section is executed.
3. If the value is FALSE, the WHILE statement is terminated (this can occur the first time the
condition is evaluated) and the program is resumed after END_WHILE.
Example
The following example illustrates the use of the WHILE statement:
Description
A REPEAT statement causes a sequence of statements programmed between REPEAT and
UNTIL to be executed repeatedly until a termination condition is true. The termination condition
is formulated in accordance with the rules for a logic expression.
Note
You use the REPEAT statement when the number of loop passes is not known at the
programming stage.
If the number of passes is known, the FOR statement (Page 155) is more suitable.
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The condition is checked after the statement section is executed. That means the statement
section is executed at least once, even if the termination condition is true at the start.
Sequence of execution
The REPEAT statement is processed according to the following rules:
1. The iteration condition is evaluated each time after the statement section is executed.
2. If the value is FALSE, the statement section is executed again.
3. If the value is TRUE, execution of the REPEAT statement is terminated and program
execution is resumed after END_REPEAT.
Example
The following example illustrates the use of the REPEAT statement:
Description
An EXIT statement is used to exit a loop (FOR, WHILE or REPEAT loop) at any point,
irrespective of whether the termination condition is true or false.
This statement has the effect of jumping directly out of the loop immediately surrounding the
EXIT statement.
The program resumes after the end of the loop (e.g. after END_FOR).
Example
The following example illustrates the use of the EXIT statement:
Description
A RETURN statement causes termination of the POU currently being processed (program,
function, function block).
When a function or a function block is terminated, program execution continues in the higher-
level POU after the position where the function or function block was called.
Example
The following example illustrates the use of the RETURN statement:
Description
You can use the WAITFORCONDITION statement to wait for a programmable event or
condition in a MotionTask. The statement suspends execution of the calling MotionTask until
the condition is true. You program this condition in an Expression (Page 187).
More information about the WAITFORCONDITION and expressions in this regard is contained
in the SIMOTION Basic Functions Function Manual.
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Expression identifier is a construct declared with EXPRESSION; its value defines (together
with WITH edge evaluation, if necessary) whether the condition is considered as been satisfied.
The WITH edge evaluation sequence is optional. Edge evaluation is an expression of data
type BOOL; it determines how the value of expression identifier is interpreted:
● Edge evaluation = TRUE:
The rising edge of expression identifier is interpreted; i.e. the condition is satisfied when
the value of expression identifier changes from FALSE to TRUE.
● Edge evaluation = FALSE:
The static value of expression identifier is evaluated; i.e. the condition is satisfied when the
value of expression identifier is TRUE.
If WITH edge evaluation is not specified, the default setting is FALSE, i.e. the static value of
expression identifier is evaluated.
The statement section must contain at least one statement (empty statements also possible).
Example
The following example illustrates the use of the WAITFORCONDITION statement:
For a complete example, refer to the description for the Expression (Page 187).
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Note
You should only use the GOTO statement in special circumstances (for example, for
troubleshooting). It should not be used at all according to the rules for structured programming.
Jumps are only permitted within a POU.
The following jumps are illegal:
● Jumps to subordinate control structures (WHILE, FOR, etc.)
● Jumps from a WAITFORCONDITION structure
● Jumps within CASE statements
Jump labels can only be declared in the POU in which they are used. If jump labels are
declared, only the declared jump labels may be used.
This section describes how you can implicitly and explicitly convert between elementary data
types. It also contains an overview of the additional conversion possibilities.
The table presents an overview of the conversion options between numerical data types and
bit data types. A distinction is made between:
● Implicit conversion (Page 163): Conversion is automatic when different data types are used
in an expression or when values are assigned by the compiler.
● Explicit conversion (Page 165): Conversion is carried out when the user calls a conversion
function (see SIMOTION Basic Functions Function Manual).
Table 4-39 Type conversion of numeric data types and bit data types
Source Target data type
data type BOOL BYTE WORD DWOR USINT UINT UDINT SINT INT DINT REAL LREAL STRIN
D G
BOOL – Im/Ex Im/Ex Im/Ex Val Val Val Val Val Val Val Val –
BYTE Ex – Im/Ex Im/Ex Ex Ex Ex Ex Ex Ex Val Val Elem
WORD Ex Ex – Im/Ex Ex Ex Ex Ex Ex Ex Val Val –
DWORD Ex Ex Ex – Ex Ex Ex Ex Ex Ex Ex/Val Val –
USINT Val Ex Ex Ex – Im/Ex Im/Ex Ex Im/Ex Im/Ex Im/Ex Im/Ex –
UINT Val Ex Ex Ex Ex – Im/Ex Ex Ex Im/Ex Im/Ex Im/Ex –
UDINT Val Ex Ex Ex Ex Ex – Ex Ex Ex Ex Ex Ex
SINT Val Ex Ex Ex Ex Ex Ex – Im/Ex Im/Ex Im/Ex Im/Ex –
INT Val Ex Ex Ex Ex Ex Ex Ex – Im/Ex Im/Ex Im/Ex –
DINT Val Ex Ex Ex Ex Ex Ex Ex Ex – Ex Im/Ex Ex
REAL Val Val Val Ex/Val Ex Ex Ex Ex Ex Ex – Im/Ex Ex
LREAL Val Val Val Val Ex Ex Ex Ex Ex Ex Ex – Ex
STRING – Elem – – – – Ex – – Ex Ex Ex –
Im: Implicit data type conversion possible
Ex: Explicit data type conversion possible by means of type conversion function source data type_TO_target data type
Val: Explicit data type conversion possible by means of type conversion functionsource data type_VALUE_TO_target data type
Elem: Implicit data type conversion with an element of the STRING data type
For information on conversion functions for date and time data types: Please refer to the
SIMOTION Basic Functions Function Manual.
The following figure provides a graphics-based view of all implicit type conversion chains. Each
stage in the type conversion chain - reading from left to right or from top to bottom - always
represents an enlargement of the value range.
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Note
In arithmetic expressions, the result is always calculated in the largest number format
contained in the expression.
A value can only be assigned to the expression if:
● The calculated expression and the variable to be assigned are of the same data type.
● The data type of the calculated expression can be implicitly converted to the data type of
the variable to be assigned.
For more information on this error source and its solution: Please refer to the SIMOTION
Basic Functions Function Manual.
usint_var : USINT;
real_var : REAL;
byte_var : BYTE;
string_var : STRING[80] := 'example for string';
END_VAR
Note
If applicable, specify the data type explicitly for numbers (e.g. UINT#127, if the number 127
is to be of data type UINT instead of USINT).
The compiler outputs warnings when it detects conversions associated with loss of precision.
Note
The type conversion may cause errors when the program is running, which will trigger the
error response set in the task configuration (see "Execution errors in programs" in the
SIMOTION Basic Functions Function Manual).
Special attention is required when converting DWORD to REAL. The bit string from DWORD
is taken unchecked as the REAL value. You must make sure that the bit string in DWORD
corresponds to the bit pattern of a normalized floating-point number in accordance with IEEE.
To do this, you can use the _finite and _isNaN functions.
Otherwise, an error can be triggered (FPU exception) as soon as the REAL value is first used
for an arithmetic operation (for example, in the program or when monitoring in the symbol
browser).
Note
The following applies if the value range limits are exceeded during conversion from LREAL
to REAL:
● Underflow (absolute value of LREAL number is smaller than the smallest positive REAL
number):
Result is 0.0
● Overflow (absolute value of LREAL number is larger than the largest positive REAL
number):
The error response specified during task configuration is triggered.
The following description explains how to create and call functions (FCs) and function blocks
(FBs). A complete example showing the differences between FC and FB is contained in
Comparison of functions and function blocks (Page 182).
The order in which you must define and call the stipulated source file sections is given in Use
of the source file sections (Page 191).
How to export and import FCs and FBs is explained in Section Import and export between ST
source files (Page 204).
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The FUNCTION keyword is followed by an identifier as the FC name and the data type of the
return value. Enter VOID as data type if the FC has no return value.
Then enter (see example in Source file with comments (Page 183)):
● The optional declaration section
● The statement section
● The END_FUNCTION keyword
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Then enter (see example in Source file with comments (Page 183)):
● The optional declaration section
● The statement section
● The END_FUNCTION keyword
Data Syntax FB FC
Constant VAR CONSTANT X X
Declaration list
END_VAR
Input parameters VAR_INPUT X X
Declaration list
END_VAR
In/out parameter VAR_IN_OUT X X
Declaration list
END_VAR
Output parameters VAR_OUTPUT X –
Declaration list
END_VAR
Local variable VAR X X
(for FC and FB) Declaration list (static) (temporary)
END_VAR
Local variable VAR_TEMP X -
(for FB) Declaration list (temporary)
END_VAR
Declaration list: The list of identifiers of the type to be declared
Parameter blocks
Parameters are local data and are formal parameters of a function block or function. When the
FB or FC is called, the formal parameters are substituted by the actual parameters, thus
providing a means of exchanging information between the called and calling source file
sections.
● Formal input parameters receive the actual input values (data flow inwards).
● Formal output parameters (only for FB) are used to transfer output values (data flow
outwards).
● Formal in/out parameters act as input and output parameters.
The following figures show the syntax for the parameter declaration of an FB or an FC.
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As well as variables, you can also declare the following in the parameter block for in-out
parameters:
● Instances of function blocks (Page 179)
● Arrays with a dynamic length (Page 173), as of SIMOTION Kernel V4.2.
You can use the declared parameters the same as other variables within the FB or FC, with
the following exception: You cannot assign values to input parameters.
From outside of an FB or an FC, you can access:
● The input and output parameters of an FB by means of structured variables (Page 115).
Input parameters can only be accessed if the "Permit language extensions" compiler
option (Page 57) has been activated.
Data access to the output parameter is possible as standard.
● The return value of an FC by using the function in an expression and assigning this
expression to a variable, for example. Specifying the function name calls the function and
returns a result at the same time.
Note
For tips on the efficient use of parameters, please refer to Runtime-optimized Programming
in the SIMOTION Basic Functions Function Manual.
Parameter/variable Use
Input parameters With the call of an FC or an FB, assign the current values to the input
parameters. These values are used for data processing within the FC or
the FB, for example, for calculations, but cannot be modified themselves.
Only for activated "Permit language extensions" compiler option (see
Global compiler settings (Page 57) or Local compiler settings (Page 59)):
The input parameters of an FB can be read and written using structured
variables, also outside the FB (e.g. in the calling source file section).
In/out parameter You assign a variable to an in/out parameter for the call of the FB or FC.
The FC or the FB accesses this variable directly and can change it
immediately. Type conversions are not supported.
The variable assigned to an in/out parameter must be able to be directly
read and written. Therefore, system variables (of the SIMOTION device or
a technology object), I/O variables or process image accesses cannot be
assigned to an in/out parameter.
Output parameters You assign a variable to an in/out parameter for the call of an FB using the
(for FB only) => operator. The value of the output parameter (result) is transferred to the
variables when the FB is closed. The output parameters of an FB can also
be read using structured variables, also outside the FB (e.g. in the calling
source file section).
An FC has no formal output parameters, because the function name
receives the return value. The function name itself is, in a sense, the output
parameter.
Local variables Local variables are variables that are declared and used only within the
block.
All local variables (VAR ... END_VAR) are temporary in an FC, i.e. they
lose their value when the FC is terminated. The next time the FC is called,
they are reinitialized.
A differentiation between static and temporary local variables is made in
the FB:
● Static variables (VAR ... END_VAR) retain their value when the FB is
closed.
● Temporary variables (VAR_TEMP ... END_VAR) lose their value when
the FB is closed. The next time the FB is called, they are reinitialized.
The value of the local variable cannot be queried directly by the calling
block. This is only possible using an output parameter.
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Note
The above functions are executed during runtime for an ARRAY with a dynamic length.
Example
FUNCTION_BLOCK example_dyn_array
VAR_IN_OUT
VAR_TEMP
i : DINT := 0;
END_VAR
PROGRAM test_dyn_array
VAR
array_1 : ARRAY [0 .. 29] OF DINT;
fb_example : example_dyn_array;
END_VAR
// ...
fb_example (flexarray := array_1);
// ...
END_PROGRAM
This provides an overview of the call of the functions and function blocks.
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Input and in/out parameters are normally specified as a value assignment. In this way, you
assign values (actual parameters) to the parameters you have defined in the declaration
section of the called block (formal parameters).
The assignment of output parameters is made using the => operator. In this way, you assign
a variable (actual parameter) to the output parameters you have defined in the declaration
section of the called block (formal parameters).
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You transfer the data (actual parameters) to the formal input parameters of an FB or FC by
means of input assignments. You can specify the actual parameters in the form of expressions.
You can use the formal input parameters in statements within the FB or FC, but you cannot
modify their values.
A short form of parameter transfer is supported, but should not be applied in conjunction with
user-defined FBs. This short form is required only for some FCs, see SIMOTION Basic
Functions Function Manual.
The assignment of actual parameters is optional for an FB. If no input assignment is specified,
the values of the last call are retained because an FB is a source file section with memory.
The assignment of an actual parameter is optional for an FC when an initialization expression
was specified for the declaration of the formal parameter.
Also refer to the examples in Calling functions (Page 178) and Calling function blocks (instance
calls) (Page 179).
You can also gain read and write access to an FB's input parameter at any time outside the
FB. For further details, see: Accessing the FB's input parameter outside the FB (Page 181).
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You transfer the data (actual parameters) to the formal in/out parameters of an FB or an FC
using in/out assignments. You can only assign a variable of the same type to the formal in/out
parameter, data type conversions are not possible.
You can use and change the formal in/out parameters in statements within the FC or the FB.
The FC or the FB accesses the variable of the actual parameter directly and can change it
immediately.
Also refer to the examples in Calling functions (Page 178) and Calling function blocks (instance
calls) (Page 179).
When using the STRING data type in in/out assignments, the declared length of the actual
parameter must be greater than or equal to the length of the formal in/out parameter (see
following example).
Table 5-4 Example of the use of the STRING data type in in/out assignments
FUNCTION_BLOCK REF_STRING
VAR_IN_OUT
io : STRING[80];
END_VAR
; // Statements
END_FUNCTION_BLOCK
FUNCTION_BLOCK test
VAR
my_fb : REF_STRING;
str1 : STRING[100];
str2 : STRING[50];
END_VAR
my_fb(io := str1); // Permitted call
my_fb(io := str2); // Not permitted call,
// compiler error message
END_FUNCTION_BLOCK
The variable assigned to an in/out parameter must be able to be directly read and written.
Therefore, system variables (of the SIMOTION device or a technology object), I/O variables
or process image accesses cannot be assigned to an in/out parameter.
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You use an output assignment to assign the formal output parameters of an FB to the variables
(actual parameter) that accept the value of the formal output parameter when the FB is
closed.
You can use and change the formal output parameters in statements within the FB.
Also refer to the examples in Calling function blocks (instance calls) (Page 179).
Output assignments are optional for the parameter transfer. You can gain read and write
access to an FB's output parameter at any time, even outside the FB. For further details, see:
Accessing the FB's output parameter outside the FB (Page 181).
Note
Using in/out parameters instead of input parameters is only faster if a large volume of data
is to be passed to the function block.
If unit variables are used predominantly instead of parameters, the resulting program
structure will be complex and confusing: object orientation, data encapsulation, multiple use
of variable names (encapsulation of validity ranges), etc., are no longer possible.
y:=sin(x);
y := sin(in := x);
y := sqrt (1 - cos(x) * cos(x));
Note
In the function itself, the result (return value) is assigned to the function name (except for data
type VOID).
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Note
Pay attention to the different initialization times for different variable types.
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The example in the following table is applicable, assuming that the supply and motor function
blocks have already been defined:
● FB Supply:
Input parameters in1, in2; in/out parameter inout; output parameter out
● FB motor:
In/out parameters inout1, inout2; output parameters out1, out2
Table 5-5 Example of instance declaration, FB call, and access to output parameters
VAR
Supply1, Supply2: Supply;
Motor1 : Motor;
END_VAR
Note
To be able to use this option, the "Permit language extensions" compiler option must be
activated (see Global compiler settings (Page 57) and Local compiler settings (Page 59)).
The instance name of the FB itself must not be used in a value assignment!
The differences between user-defined function blocks (FBs) and functions (FCs) are succinctly
illustrated below using a complete example.
● There are several ways of defining the area of the circle for the FB and the FC:
– For the FB, an output parameter is defined.
– For the FC, its return value is used; the data type of the return value is defined
appropriately.
● Each FB and FC call will be recorded in a counter (local variable). The explanations for the
example state: We will see that this value will continue to be counted only in the FB.
● In the program section, the FB or the FC is called and the actual parameters assigned to
the following formal parameters:
– For the FB: Input, in/out and output parameters
– For the FC: Input and in/out parameters.
The values for the circumference and the area are available after calling the FB or the FC:
– For the FB: in the actual parameters of the in/out and output parameter.
The output parameter can be read even outside the FB.
– For the FC: in the return value of the function and in the actual parameter of the in/out
parameter.
Table 5-8 Example of the differences between FB and FC for the previous example
5.3 Programs
Programs are a series of statements placed between the PROGRAM and END_PROGRAM
keywords.
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Programs are declared in the Implementation section (Page 193) of an ST source file and are
comparable with the FB. Static local variables (VAR...END_VAR) or temporary local variables
(VAR_TEMP...END_VAR) can be created, for example. However, they do not have any formal
parameters and so cannot be called with arguments. Examples for programs are contained in
the Source file with comments (Page 183) and Source text of the sample program (Page 80)
sections.
Note
The activated "Create program instance data only once" compiler option causes:
● The static variables of the programs (program instance data) are stored in a different
Memory area (Page 217). This also changes the Initialization behavior (Page 226).
● All called programs with the same name use the same program instance data.
PROGRAM main_prog
; // ...
my_prog();
; // ...
END_PROGRAM
Note
Most of the programming work involved in assigning programs to tasks can be done if
programs are called from within a program. In the execution system, only one calling program
needs to be assigned to the associated tasks in each case.
5.4 Expressions
The expression is a special case of a function declaration:
● The data type of the return value is defined as BOOL and is not specified explicitly.
It is used in conjunction with the WAITFORCONDITION statement (Page 160).
An expression can only be declared in the implementation section of the ST source file.
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An expression of data type BOOL must be assigned to the expression name in the statement
section of the expression (see figure).
Note
The statement section of the expression cannot contain any function calls or loops.
Example
The following example assumes that the feeder program is running in a MotionTask. The option
Activation after StartupTask is selected for this MotionTask. The assignment of programs to
tasks is performed in SIMOTION SCOUT (see SIMOTION Motion Control Basic Functions
function description).
Table 5-10 Example of the use of an EXPRESSION and the WAITFORCONDITION statement
INTERFACE
USEPACKAGE cam;
PROGRAM feeder; // in MotionTask_1
END_INTERFACE
IMPLEMENTATION
// Condition for WAITFORCONDITION statement
EXPRESSION automaticExpr
automaticExpr := IOfeedCam; // Digital input
END_EXPRESSION
PROGRAM feeder
VAR
retVal : DINT ;
END_VAR ;
retVal := _enableAxis (axis := realAxis,
enableMode := ALL,
servoCommandToActualMode := INACTIVE,
nextCommand := WHEN_COMMAND_DONE,
commandId := _getCommandId() );
disableMode := ALL,
servoCommandToActualMode := INACTIVE,
nextCommand := WHEN_COMMAND_DONE,
commandId := _getCommandId() );
END_PROGRAM
END_IMPLEMENTATION
Further examples are contained in the SIMOTION Motion Control Basic Functions Function
Manual. In particular, the manual describes how, as of Version V4.1 of the SIMOTION kernel,
you use an EXPRESSION with parameters and, for example, program a time monitoring in a
WAITFORCONDITION statement.
An overview of the meaning of the source file sections was provided in Structure of an ST
source file (Page 101). This section describes details, such as the syntax of the sections and
how to use them to import and export data between several ST source files.
You must follow certain structure and syntax rules in your source file sections (modules), so
that the ST source file can be compiled. A few general guidelines are presented here; details
on source file sections are presented later in this section:
● When creating the source file, you should always pay attention to the order of the source
file sections. A section that is to be called must always precede the calling section; otherwise
the section that is to be called will not recognize the calling section.
For example, variables must always be declared before they are used and functions must
be defined before they are called.
● The source text for the most common source file sections – program, function or function
block – consists of the following:
– Start of section with reserved word and identifier
– Declaration section (optional)
– Statement section
– End of section with reserved word
● Identifiers for source file sections – hereinafter referred to as name or name_list - follow the
general syntax rules for identifiers (Identifiers in ST (Page 89)).
Note
A template with all possible source file sections is available in the online help.
Syntax
INTERFACE
// Interface statements (optional)
END_INTERFACE
An individual identifier of the section cannot be specified.
Optionally, interface statements exist in the following order between reserved words
INTERFACE and END_INTERFACE.
1. Specification of utilized technology package. Syntax:
USEPACKAGE tp-name [AS namespace];
For more details, refer to the SIMOTION Basic Functions Function Manual.
2. Specification of utilized libraries.
Syntax:
USELIB library-name-list [AS namespace];
For more information, see "Using data types, functions and function blocks from libraries
(Page 261)".
3. Reference to other units in order to use their exported components.
The syntax is:
USES unit_name-list;
For more information, see "USES statement in an importing unit (Page 206)".
4. Declarations and specifications for the export
– Data type definitions (Page 201):
User-defined data types (UDT) that are valid in the entire ST source file and that are to
be exported
– Variable declarations (Page 202):
Unit variables and unit constants valid in the entire ST source file and exported.
Permissible keywords: See Section "Variable declaration" (Page 202).
– Specification of the program organization units (POUs) to be exported.
Syntax:
FUNCTION fc_name;
FUNCTION_BLOCK fb_name;
PROGRAM program_name;
If the "Permit forward declarations" compiler option (Page 57) is activated, they are also
interpreted as POU prototypes for the forward declaration (Page 286).
– POU prototypes for the forward declaration (Page 286).
Specification of the prototypes for program organization units with forward declaration
(only effective if the "Permit forward declarations" compiler option (Page 57) is activated).
They are also interpreted as POUs to be exported.
All technology packages, libraries, imported units, data type declarations, variable declarations
and program organization units listed in the interface section will be exported. For more
information on export, see "Interface section of an exporting unit (Page 205)".
Sequence
The interface section is the first section of an ST source file.
Note
Optionally, the unit statement can precede the interface section, see "Identifier of the unit
(Page 204)".
Frequency
Once per ST source file
Mandatory section
Yes
Syntax
IMPLEMENTATION
// Implementation statements (optional)
END_IMPLEMENTATION
An individual identifier of the section cannot be specified.
Optionally, implementation statements (main part of the ST source file) exist in the following
order between the reserved words IMPLEMENTATION and END_IMPLEMENTATION:
Sequence
Always follows the interface section.
The order of the implementation statements indicated above is mandatory; within number 2
and 3, any order is permitted:
Please note: Identifiers must be declared before they are used.
Only if the "Permit forward declarations" compiler option (Page 57) is activated: When declaring
an instance of a function block, it is sufficient for the prototype of the function block to have
been declared previously.
Frequency
Once per ST source file
Mandatory section
Yes
● Usually, the called POUs must precede the calling POUs in the source file so that the former
are recognized by the latter.
● Exception: Only if the "Permit forward declarations" compiler option (Page 57) is activated:
The sequence is arbitrary: The following applies to the specification of a prototype for
forward declaration (Page 286) in the interface section (Page 192) or the implementation
section (Page 193):
– Essential for declaring instances with function blocks
– Optional when calling functions and programs
Syntax
FUNCTION name : function_data_type
// Declaration section
// Statement section
END_FUNCTION
name stands for the identifier of the function, while function_data_type stands for the data
type of the return value.
Permissible keywords for the variable declaration in the declaration section (Page 199): See
Section "Variable declaration" (Page 202).
Note the following for functions with function_data_type <> VOID: In the body (Page 200), an
expression of data type function_data_type must be assigned to the function identifier.
Sequence
FCs can only be defined in the implementation section (Page 193).
● Usually, functions must precede the POU in the source file from which they are called.
● Exception: Only if the "Permit forward declarations" compiler option (Page 57) is activated:
The sequence is arbitrary: There is an option to specify a prototype for the forward
declaration (Page 286) in the interface section (Page 192) or the implementation section
(Page 193).
The declaration section (Page 199) must precede the statement section (Page 200).
Frequency
Any number of times per ST source file
Mandatory section
No
Syntax
FUNCTION_BLOCK name
// Declaration section
// Statement section
END_FUNCTION_BLOCK
name stands for the identifier of the function block.
Permissible keywords for the variable declaration in the declaration section: See Section
"Variable declaration" (Page 202).
Special features
Before you call a function block (FB), you must declare an instance: You declare a variable
and enter the identifier of the function block as the data type. You can declare the instance
locally (within VAR / END_VAR in the declaration sections of a program or a function block).
You can also declare the instance globally (within VAR_GLOBAL/END_VAR in the interface
or implementation section). As standard, this is only possible with function blocks which make
imported program sources and libraries available, but not with function blocks which are
defined in the same ST source file.
You can only declare global instances of function blocks which are defined in the same ST
source file if the "Permit forward declarations" compiler option (Page 57) is activated. It is
essential that a prototype for the forward declaration (Page 286) is specified in the interface
or implementation section.
You cannot declare an instance of an FB in FCs.
Sequence
FBs can only be defined in the implementation section (Page 193).
● As standard, FBs must precede the POU in the source file in which an instance is declared
as local variable.
● Exception: Only if the "Permit forward declarations" compiler option (Page 57) is activated:
The sequence is arbitrary: It is essential that a prototype for the forward declaration
(Page 286) is specified in the interface section (Page 192) or the implementation section
(Page 193).
The declaration section (Page 199) must precede the statement section (Page 200).
Frequency
Any number of times per ST source file
Mandatory section
No
6.1.1.6 Programs
Programs are classified as program organization units (POUs). They are called on the target
system according to their task assignment (see Configuring the execution system in the
SIMOTION Basic Functions Function Manual) and can call FCs and FBs.
Programs have the following syntax:
Syntax
PROGRAM name
// Declaration section
// Statement section
END_PROGRAM
name stands for the name of the program.
Permissible keywords for the variable declaration in the declaration section: See Section
"Variable declaration" (Page 202).
Sequence
Programs can only be defined in the implementation section (Page 193).
● It is advantageous to place programs after expressions, FCs, and FBs. This enables the
program to recognize and use the source file sections.
● Exception: Only if the "Permit forward declarations" compiler option (Page 57) is activated:
The sequence is arbitrary: When a program is called within a program, there is an option
to specify a prototype for the forward declaration (Page 286) in the interface section
(Page 192) or the implementation section (Page 193).
The declaration section (Page 199) must precede the statement section (Page 200).
Frequency
Any number of times per ST source file
Mandatory section
No
6.1.1.7 Expressions
Expressions are a special case of a function declaration with the specified data type BOOL of
the return value. The expression within the EXPRESSION <expression identifier> ...
END_EXPRESSION reserved words assigned to the function name is evaluated.
You can use the WAITFORCONDITION (Page 160) construct to wait directly for a
programmable event or condition in a MotionTask. The statement suspends the task that called
it until the condition (expression) is true.
Expressions have the following syntax:
Syntax
EXPRESSION name
// Declaration section
// Statement section
END_EXPRESSION
name stands for the identifier of the expression.
Permissible keywords for the variable declaration in the declaration section: See Section
"Variable declaration" (Page 202).
Please note: In the body (Page 200), an expression of data type BOOL must be assigned to
the expression identifier.
Sequence
An expression can only be declared in the implementation section (Page 193) of an ST source
file.
● Usually, expressions precede the program in which they are called from a
WAITFORCONDITION control structure.
● Exception: Only if the "Permit forward declarations" compiler option (Page 57) is activated:
The sequence is arbitrary: There is no option to specify a prototype for the forward
declaration (Page 286) in the interface section (Page 192) or the implementation section
(Page 193).
The declaration section (Page 199) must precede the statement section (Page 200).
Frequency
Any number of times per ST source file
Mandatory section
No
Structure
// Data type definition
// Variable declaration
Sequence
The declaration section has no explicit keywords at the start or end. It begins after the keyword
of the respective program organization unit (POU) and ends with the first executable statement
of the statement section.
It contains the following in any order:
Frequency
Once per POU
Mandatory section
No
Configuration
// Statements
Sequence
The statement section has no explicit keywords at the start or end. It begins after the declaration
section and ends with the keyword of the respective POU.
Frequency
Once per POU
Mandatory section
No
Syntax
TYPE
name : data_type_specification;
// ...
END_TYPE
name represents the name of the individual data type that you use for the Variable declarations.
data_type_specification stands for any data type or a structure. Any number of individual data
types can appear between TYPE and END_TYPE.
Sequence
You can define UDTs as follows:
● In the Interface section:
The UDTs are recognized within the ST source file and will be exported
They can be used in the interface and implementation section for declaration of unit
variables and in all POUs for declaration of local variables.
In addition, they can be used in all units which import this ST source file (in SIMOTION ST
with the USES statement).
● In the Implementation section:
The UDTs are recognized within the ST source file
They can be used in the implementation section for declaration of unit variables and in all
POUs for declaration of local variables.
● In the Declaration section of a POU (FC, FB, program, expression)
The UDTs are only recognized locally within the POU
They can only be used within the POU for declaration of local variables.
UDTs must be defined before they are used in a variable declaration.
Frequency
The TYPE / END_TYPE declaration block may appear more than once in a source file section;
any number of UDTs are possible within a declaration block.
Mandatory section
No
Syntax
variable_type
name_list : data_type;
// ...
END_VAR
variable_type represents the keyword of the variable type being declared. The permitted
keywords depend on the source file section.
● In the Interface section or Implementation section of an ST source file:
VAR_GLOBAL: Non-retentive unit variable
VAR_GLOBAL CONSTANT: Unit constant
VAR_GLOBAL RETAIN: Retentive unit variable
● In the Declaration section of a function:
VAR: Local variable
VAR CONSTANT: Local constant
VAR_INPUT: Input parameter
VAR_IN_OUT: In/out parameter
● In the Declaration section of a function block:
VAR: Local variable
VAR CONSTANT: Local constant
VAR_TEMP: Temporary variable
VAR_INPUT: Input parameter
VAR_OUTPUT: Output parameter
VAR_IN_OUT: In/out parameter
Sequence
The variable is declared:
● In the Interface section of the ST source file:
Permissible keywords: See above at Syntax.
The unit variables are recognized within the ST source file and will be exported.
They can be used in all POUs of the ST source file.
In addition, they can be used in all units which import this ST source file (in SIMOTION ST
with the USES statement).
● In the Implementation section of the ST source file:
Permissible keywords: See above at Syntax.
The unit variables are recognized within the ST source file.
They can be used in all POUs of the ST source file.
● In the Declaration section of a POU (FC, FB, program, expression)
Permissible keywords according to the type of POU: See above at Syntax.
The variables are only recognized locally within the POU.
They can only be used within the POU for declaration of local variables.
Exceptions:
– You can also access the output parameters of a function block outside the FB.
– You can access the input parameters of a function block outside the FB provided the
"Permit language extensions" compiler option has been activated. See Global settings
of the compiler (Page 57) and Local settings of the compiler (Page 59).
Variables must be declared before they are used.
Frequency
The number of times the variable_type / END_VAR declaration block of a specific variable type
can appear depends on the associated source file section:
● In the interface and implementation section of the ST source:
The declaration blocks may appear more than once.
● In the declaration section of a POU (FC, FB, program, expression):
Each declaration block (other than VAR CONSTANT / END_VAR) may appear just once
in the declaration section.
Permitted declaration blocks and keywords depending on the associated source file section:
See above at Syntax.
Mandatory section
No
ST applies the unit concept, where you can access the global variables, data types, functions
(FCs), function blocks (FBs), and programs of other source files. Thus, for example, you can
compile reusable subroutines and make them available.
UNIT name;
name corresponds to the name of the ST source file defined in SIMOTION SCOUT, see Add
ST source (Page 23) or Change the properties of an ST source file (Page 25).
The unit statement is ignored if the name specified there differs from the name of the ST source
file.
Note
The following further specifications are possible in the interface section, they are listed
before the exported data types, variables and POU:
1. Specification of utilized technology packages (USEPACKAGE …).
2. Specification of utilized libraries (USELIB …).
3. Reference to other units in order to use their exported units (USES …).
These imported technology packages, libraries and units are also exported. For inheritance,
see "USES statement in an importing unit (Page 206)".
You must adhere to the order presented for the specifications in the interface section of a
unit (ST source file), see "Interface section (Page 192)". Otherwise, error-free compilation of
the ST source file will not be possible.
Programs which are to be assigned to a task in the execution system must be listed in the
interface section (see Configuring the execution system in the SIMOTION Basic Functions
Function Manual). The compiler outputs a warning message if programs cannot be exported
in the interface section of an ST source file.
Functions, function blocks, and programs that are only used in the ST source file should not
be listed in the interface section.
INTERFACE
// ... USES statement also possible here
TYPE // Declaration of data types to be exported
color : (RED, GREEN, BLUE);
END_TYPE
VAR_GLOBAL
cycle : INT := 1; // Declaration of the
// unit variables to be exported
END_VAR
FUNCTION myFC; // Export statement of an FC
FUNCTION_BLOCK myFB; // Export statement of an FB
PROGRAM myProgram_A; // Export statement of a program
// (to interface with the execution system)
END_INTERFACE
IMPLEMENTATION
Function myFC : LREAL // Function written out
; // ... (Statements)
END_FUNCTION
USES unit_name-list
unit_name-list is a list of units separated by commas from which the modules are to be imported.
Example:
This enables you to access the following elements specified or declared in the interface section
of the imported unit (e.g. ST source file, MCC source):
Note
The keyword USES can only occur once in the interface section or in the implementation
section of a unit. When multiple units are to be imported, enter them as a list separated by
commas after the keyword USES.
The USES statement can appear in either the interface section or the implementation section
of a unit. This has far-reaching implications:
Table 6-2 Implications regarding placement of USES statement in interface section or in implementation section
Note
You will find tips for use of unit variables in the SIMOTION Basic Functions Function Manual.
INTERFACE
// ... if required, USES statement
PROGRAM myProgram_B;
// Specification of programs to be exported, FB, FC
// Data types and unit variables
END_INTERFACE
IMPLEMENTATION
USES myUnit_A; // Specification of unit to be imported
VAR_GLOBAL
myInstance : myFB; // Declaration of an instance
// of the imported FB
mycolor : color; // Declaration of a variable
// of the imported data type
END_VAR
PROGRAM myProgram_B
mycolor := GREEN; // Value assignment to a variable of the
// data type to be imported
cycle := cycle + 1; // Value assignment to
// imported variable
END_PROGRAM
END_IMPLEMENTATION
The following table shows all the variable types available for programming with ST.
● System variables of the SIMOTION device and the technology objects
● Global user variables (I/O variables, device-global variables, unit variables)
● Local user variables (variables within a program, a function or a function block)
System variables
Note
Please note that downloading the ST source file to the target system and running tasks affect
variable initialization and thus the contents of the variables, see Time of the variable
initialization (Page 221).
● If you declare the unit variables in the interface section, you create variables that can be
used in other program sources (e.g. ST source files, MMC units). For more on importing
and exporting between program source files, see Import and export between ST source
files (Page 204).
By default, these unit variables are also available on HMI devices. The total size of the unit
variables that can be exported to HMI devices is limited to 64 KB per unit.
● If you declare the unit variables in the implementation section, you create variables that
can be used by all program organization units (POUs) of the current source file.
You can change the default setting for the HMI export of the unit variables using a pragma
within a declaration block, see Variables and HMI devices (Page 230) and Controlling compiler
with attributes (Page 281).
You can define unit variables with different behavior, e.g. in case of power failure:
● Non-retentive unit variables (keyword VAR_GLOBAL): its value is lost in the event of a
power failure.
● Retentive unit variables (keyword VAR_GLOBAL RETAIN): its value remains in the event
of a power failure.
● Unit constants (keyword VAR_GLOBAL CONSTANT): its value is retained unchanged (see
Constants (Page 132)).
You will find tips for the efficient use of unit variables in the SIMOTION Basic Functions
Function Manual.
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This declaration block may appear more than once within an interface or implementation
section. You specify the variable name and data type for the variable declaration (see Overview
of all variable declarations (Page 127) and Initialization of variables or data types (Page 129)).
For the scope of the declaration and the HMI export, see Unit variables (Page 210).
Note
For initialization of the non-retentive unit variables:
● See Initialization of non-retentive global variables (Page 223).
● The behavior during downloading can be set (Options > Settings menu command,
Download tab, Initialize non-retentive program data and global device variables checkbox)
● The type of version ID and therefore the initialization behavior on downloading depends
on the SIMOTION Kernel version. For details, see Version ID of global variables and their
initialization during download (Page 229).
IMPLEMENTATION
VAR_GLOBAL // These variables cannot be exported.
//
rotation2 : INT;
field2 : ARRAY [1..10] OF REAL;
flag2 : BOOL;
motor2 : motor; // Instance declaration
END_VAR
END_IMPLEMENTATION
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This declaration block may appear more than once within an interface or implementation
section. You specify the variable name and data type for the variable declaration (see Overview
of all variable declarations (Page 127) and Initialization of variables or data types (Page 129)).
For the scope of the declaration and the HMI export, see Unit variables (Page 210).
Note
● For initialization of the retentive unit variables:
– See Initialization of retentive global variables (Page 222).
– The behavior during downloading can be set (Options > Settings menu command,
Download tab, Initialize retentive program data and global device variables checkbox)
– The type of version ID and therefore the initialization behavior on downloading depends
on the SIMOTION Kernel version. For details, see Version ID of global variables and
their initialization during download (Page 229).
● The amount of memory available for retentive variables depends on the device (see
quantity framework in the SIMOTION SCOUT Configuration Manual).
To make efficient use of limited memory space, use the memory in a single ST source file
and sort the variables in descending order!
● Check the capacity utilization of the retentive memory in SIMOTION SCOUT.
In online mode, call the device diagnostics of the SIMOTION device to be checked (see
online help). In the System utilization tab under Retentive data, you can see how much
memory is available.
Note
Local variables cannot be accessed outside the source file section in which they were
declared.
The following table provides an overview of the declaration of static and temporary variables.
It shows the source file sections in which these variables can be declared and the keywords
that can be used to declare them.
Table 6-6 Keywords for declaring static and temporary variables depending on source file section.
Note
Please note that downloading the ST source file to the target system and running tasks affect
variable initialization and thus the contents of the variables, see Time of the variable
initialization (Page 221).
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You can do the following in the static variable block, according to the syntax in the figure:
● Declare variables (name and data type), optionally with initialization.
● Declare symbolic accesses to the process image of the BackgroundTask.
● Declare instances of the function blocks.
For initialization of the static variables:
● In programs: Depending on the execution behavior to which the program is assigned (see
SIMOTION Basic Functions Function Manual).
See also Initialization of static program variables (Page 226).
● In function blocks: Depending on the initialization of the declared instance.
See also Initialization of instances of function blocks (FBs) (Page 227).
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In functions and expressions, you declare temporary variables in the FC temporary variable
block (see following figure):
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1. In the project navigator of SIMOTION SCOUT, select the GLOBAL DEVICE VARIABLES
element in the SIMOTION device subtree.
2. In the detail view, select the Symbol browser tab and scroll down to the end of the variable
table (empty row).
3. In the last (empty) row of the table, enter or select the following:
– Name of variable
– Data type of variable (only elementary data types are permitted)
4. Optionally, you can make the following entries:
– Activation of Retain checkbox (This declares the variable as retentive, so that its value
will be retained after a power failure.)
– Field length (array size)
– Initial value (if array, for each element)
– Display format (if array, for each element)
You can now access this variable using the symbol browser or any program of the SIMOTION
device.
In ST source files, you can use a global device variable, just like any other variable.
Note
If you have declared unit variables or local variables of the same name (e.g. var-name),
specify the global device variable with _device.var-name.
An alternative to global device variables is the declaration of unit variables in a separate unit,
which is imported into other units. This has the following advantages:
1. Variable structures can be used.
2. The initialization of the variables during the STOP-RUN transition is possible (via Program
in StartupTask).
3. For newly created global unit variables, a download in RUN is also possible.
Please refer to the SIMOTION Basic Functions Function Manual.
The different variable types are stored in different memory areas, which are initialized at
different times. The table shows:
● The available memory areas for variable types that are declared in ST source files (possibly
dependent on the version of the SIMOTION Kernel).
● The initialization time for each memory area.
An explanation using an example is contained in the Example for memory areas (Page 219)
section.
Table 6-8 Memory areas assigned to different variable types and their initialization
IMPLEMENTATION
// The implementation section contains the executable code sections
// in different program organization units (POU)
// A POU can be a program, FC, or FB.
// Unit variables of the implementation section can only be used
// within the source file.
VAR_GLOBAL // Non-retentive unit variables are located
// in the unit user memory
u1_glob : INT;
END_VAR
VAR_GLOBAL CONSTANT // Unit constants are located
// in the unit user memory
END_VAR
VAR_GLOBAL RETAIN // Retentive unit variables are located
// in the retentive (power-fail-safe) memory
END_VAR
//----------------------------------------------------------------------
PROGRAM p1
VAR // By default, variables are located in the
// in the user memory of the task
p_var : INT;
p_varFB : FB1;
END_VAR
All variable types and the timing of their variable initialization are shown in the following tables.
You will find basic information about tasks in the SIMOTION Basic Functions Function Manual.
The behavior for variable initialization during download can be set: To do this, as a default
setting select the Options > Settings menu and the Download tab or define the setting during
the current download.
Note
You can upload values of unit variables or global device variables from the SIMOTION device
into SIMOTION SCOUT and save them in XML format.
1. Save the required data segments of the unit variables or global device variables as a data
set with the function _saveUnitDataSet.
2. Use the Save variables function in SIMOTION SCOUT.
You can use the Restore variables function to download these data sets and variables back
to the SIMOTION device.
For more information, refer to the SIMOTION SCOUT Configuration Manual.
This makes it possible, for example, to obtain this data, even if it is initialized by a project
download or if it becomes unusable (e.g. due to a version change of SIMOTION SCOUT).
● As of Version V4.2 of the SIMOTION Kernel, by activating the (Page 285) Initialization of
non-retentive global variables and program data during STOP-RUN transition checkbox on
the SIMOTION device.
With non-retentive unit variables, this setting can be overwritten by a pragma or pragma
line in the relevant data blocks of the program sources.
● As of Version V4.1 of the SIMOTION Kernel, by a pragma or pragma line in the relevant
data blocks of the program sources (only with non-retentive unit variables):
– With the SIMOTION ST programming language:
Specify the following attribute within a pragma in the relevant VAR_GLOBAL/END_VAR
declaration block: { BlockInit_OnDeviceRun := ALWAYS; }
– With the SIMOTION MCC or SIMOTION LAD/FBD programming languages:
Paste a pragma line with the following setting into the declaration table: "Initialization
during STOP-RUN transition = Always". All the variables declared with VAR_GLOBAL
up to the next pragma line or the end of the table form a data block which is initialized
during the STOP-RUN transition.
Note
With SIMOTION devices up to SIMOTION Kernel Version V4.0, non-retentive global variables
are never initialized during the STOP-RUN transition.
Note
You can obtain information about the memory requirements of a POU in the local data stack
using the Program Structure (Page 273) function.
● For the deactivated "Only create program instance data once" compiler option (default):
The static variables are stored in the user memory of each task which is assigned to the
program.
The initialization of the variables thus depends on the execution behavior of the task to
which the program is assigned (see SIMOTION Basic Functions Function Manual):
– Sequential tasks (MotionTasks, UserInterruptTasks, SystemInterruptTasks,
StartupTask, ShutdownTask): The static variables are initialized every time the task is
started.
– Cyclic tasks (BackgroundTask, SynchronousTasks, TimerInterruptTasks): The static
variables are only initialized only during the transition from STOP to RUN operating state.
● For the activated "Only create program instance data once" compiler option:
This setting is necessary, for example, if a program is to be called within a program.
The static variables of all programs from the program source (unit) involved are only stored
once in the user memory of the unit.
They are thus initialized together with the non-retentive unit variables, see Initialization of
non-retentive global variables (Page 223).
They are not initialized by default during the transition from STOP to RUN operating state.
You can, however, make a setting whereby they are initialized during the STOP-RUN
transition:
– As of version V4.2 of the SIMOTION Kernel, by activating the (Page 285) Initialization
of non-retentive global variables and program data during STOP-RUN transition
checkbox on the SIMOTION device.
This setting can be overwritten by a pragma or pragma line in the data block of the
relevant program organization unit (POU).
– As of version V4.1 of the SIMOTION Kernel, by a pragma or pragma line in the data
block of the relevant program organization unit (POU):
With the SIMOTION ST programming language:
Specify the following attribute within a pragma in the VAR/END_VAR declaration block:
{ BlockInit_OnDeviceRun := ALWAYS; }
With the SIMOTION MCC or SIMOTION LAD/FBD programming languages:
The declaration table starts with a pragma line containing the following setting:
"Initialization during STOP-RUN transition = Always". All the variables declared with
VAR in the table are initialized during the STOP-RUN transition.
Note
You can obtain information about the memory requirements of a POU in the local data stack
using the Program Structure (Page 273) function.
Table 6-16 Version code of global variables and their initialization during download
● Retentive and non-retentive unit variables of the implementation section (default setting).
Change this default as follows:
– In the SIMOTION ST programming language:
For each declaration block with the following pragma: { HMI_Export := TRUE; }
See also Controlling compiler with attributes (Page 281).
– In the SIMOTION MCC and SIMOTION LAD/FBD programming languages:
For the variable declarations following a pragma line, if you activate the VAR_GLOBAL
for HMI devices or VAR_GLOBAL RETAIN for HMI devices parameters in this pragma
line.
The unit variables of this kind of data block are exported to HMI devices. Consequently,
they are subject to the HMI consistency check during the download.
● Local variables of a POU
Note
The total size of the unit variables that can be exported to HMI devices is limited to 64 KB
per unit.
The effect of the { HMI_Export := FALSE; } /{ HMI_Export := TRUE; } pragma
(or the VAR_GLOBAL for HMI devices or VAR_GLOBAL RETAIN for HMI devices settings
in a pragma line) depends on the SIMOTION Kernel version:
● As of Version V4.1 of the SIMOTION Kernel:
The pragma affects the export of the corresponding declaration block to HMI devices
and the structure of the HMI address space:
– Only those variables in declaration blocks exported to HMI devices occupy the HMI
address space.
– Within the HMI address space, the variables are arranged according to order of their
declaration.
● Up to Version V4.0 of the SIMOTION Kernel:
The pragma affects only the export of the corresponding declaration block to HMI devices.
The HMI address space is also occupied by unit variables of the interface section whose
declaration blocks are not assigned to HMI devices.
Within the HMI address space, the variables are sorted in the following order:
– Retentive unit variables of the interface section (exported and not exported).
– Retentive unit variables of the implementation section (only exported).
– Non-retentive unit variables of the interface section (exported and not exported).
– Non-retentive unit variables of the implementation section (only exported).
Within these segments, the variables are arranged according to order of their declaration.
Table 6-17 Example for the control of the HMI export with the corresponding pragma
INTERFACE
VAR_GLOBAL
// HMI export
x1 : DINT;
END_VAR
VAR_GLOBAL
{ HMI_Export := FALSE; }
// No HMI export
x2 : DINT;
END_VAR
// ...
END_INTERFACE
IMPLEMENTATION
VAR_GLOBAL
// No HMI export
y1 : DINT;
END_VAR
VAR_GLOBAL
{ HMI_Export := TRUE; }
// HMI export
y2 : DINT;
END_VAR
// ...
END_IMPLEMENTATION
Note
An access via the process image is more efficient than direct access.
Table 6-18 Important properties of direct access and process image access
Property
Direct access to inputs and outputs and access to the process image of the cyclic task always
take place via I/O variables. The entire address range of the SIMOTION device (Page 239)
can be used.
A comparison of the most important properties, also in comparison to the fixed process image
of the BackgroundTask (Page 246) is contained in "Important properties of direct access and
process image (Page 234)".
Note
Observe the rules for I/O addresses for direct access and the process image of the cyclical
tasks (Page 240).
It is particularly important that every address used in an I/O variable is available in the I/O and
configured; each byte in the address range may be assigned to no more than one I/O variable
(does not apply to access with data type BOOL).
The detailed status of I/O variables (Page 244) can be read as of Version V4.2 of the
SIMOTION Kernel.
Direct access
Direct access is used to access the corresponding I/O address directly. Direct access is used
primarily for sequential programming (in MotionTasks). The access to the current value of the
inputs and outputs at a specific time is particularly important.
For direct access, you define an I/O variable (Page 240) without assigning it a task.
Note
An access via the process image is more efficient than direct access.
Note
If (and only if) you are also using the fixed process image of the BackgroundTask, it is
important to consider the effects of the "Common process image" or "Separate process
image" settings on the fixed process image of the BackgroundTask (Page 246).
Table 6-19 Effect of "Common process image" or "Separate process image" settings on the process image of the cyclic
tasks
Table 6-20 Address range of the SIMOTION devices according to the version of the SIMOTION Kernel
6.3.3.2 Rules for I/O addresses for direct access and the process image of the cyclical tasks
Note
You must observe the following rules for the I/O variable addresses for direct access and the
process image of the cyclic task (Page 236). Compliance with the rules is checked during the
consistency check of the SIMOTION project (e.g. during the download).
1. Addresses used for I/O variables must be present in the I/O and configured appropriately
in the HW Config.
2. I/O variables comprising more than one byte must not contain addresses 63 and 64
contiguously.
The following I/O addresses are not permitted:
– Inputs: PIW63, PID61, PID62, PID63
– Outputs: PQW63, PQD61, PQD62, PQD63
3. All addresses of an I/O variable comprising more than one byte (e.g. WORD, ARRAY data
type) must be within a continuous address range configured in HW Config, e.g. within the
address range (slot or subslot) of one I/O module.
4. An I/O address (input or output) can only be used by a single I/O variable of data type
BYTE, WORD or DWORD or an array of these data types. Access to individual bits with
I/O variables of data type BOOL is possible.
5. If several processes (e.g. I/O variable, technology object, PROFIdrive telegram) access
an I/O address, the following applies:
– Only a single process can have write access to an I/O address of an output (BYTE,
WORD or DWORD data type).
Read access to an output with an I/O variable that is used by another process for write
access, is possible.
– All processes must use the same data type (BYTE, WORD, DWORD or ARRAY of
these data types) to access this I/O address. Access to individual bits is possible
irrespective of this.
Please be aware of the following, for example, if you wish to use an I/O variable to
read the PROFIdrive telegram transferred to or from the drive: The length of the I/O
variable must match the length of the telegram.
– Write access to different bits of an address is possible from several processes;
however, write access with the data types BYTE, WORD or DWORD is then not
possible.
Note
These rules do not apply to accesses to the fixed process image of the BackgroundTask
(Page 246). These accesses are not taken into account during the consistency check of the
project (e.g. during download).
6.3.3.3 Creating I/O variables for direct access or process image of cyclic tasks
Create I/O variables for direct access or a process image of the cyclic tasks in the address list
of the detail view.
This is only possible in offline mode.
You can now access this variable using the address list or any program of the SIMOTION
device.
Details on how to manage the address list can be found in the online help.
Note
Note the following for the process image for cyclic tasks:
● A variable can only be assigned to one task.
● Each byte of an input or output can only be assigned to one I/O variable.
In the case of data type BOOL, please note:
● The process image for cyclic tasks and a strategy for errors cannot be defined. The
behavior defined via an I/O variable for the entire byte is applicable (default: direct access
or CPU stop).
● The individual bits of an I/O variable can also be accessed using the bit access functions.
Take care when making changes within the I/O variables (e.g. inserting and deleting I/O
variables, changing names and addresses):
● In some cases the internal addressing of other I/O variables may change, making all I/O
variables inconsistent.
● If this happens, all program sources that contain accesses to I/O variables must be
recompiled.
Note
I/O variables can only be created in offline mode. You create the I/O variables in SIMOTION
SCOUT and then use them in your program sources (e.g. ST sources, MCC sources, LAD/
FBD sources).
Outputs can be read and written to, but inputs can only be read.
Before you can monitor and modify new or updated I/O variables, you must download the
project to the target system.
You can use I/O variables like any other variable, see "Access I/O variables" (Page 257).
Syntax
For the input of the I/O address for the definition of an I/O variable for direct access or process
image of cyclical tasks (Page 236), use the following syntax. This specifies not only the
address, but also the data type of the access and the mode of access (input/output).
Table 6-21 Syntax for the input of the I/O addresses for direct access or process image of the cyclic tasks
Examples
Input at logic address 1022, WORD data type: PIW1022.
Output at logical address 63, bit 3, BOOL data type: PQ63.3.
Note
Observe the rules for I/O addresses for direct access and the process image of the cyclical
tasks (Page 240).
Table 6-22 Possible data types of the I/O variables for direct access and the process image of the
cyclical tasks
Data type of I/O address Possible data types for I/O variables
BOOL (PIn.x, PQn.x) BOOL
BYTE (PIBn, PQBn) BYTE, SINT, USINT
WORD (PIWn, PQWn) WORD, INT, UINT
DWORD (PIDn, PQDn) DWORD, DINT, UDINT
For details of the data type of the I/O address, see also "Syntax for entering I/O addresses"
(Page 243).
The fixed process image of the BackgroundTask is a memory area in the RAM of the
SIMOTION device on which a subset of the I/O address space of the SIMOTION device is
mirrored. Preferably, it should be used for programming the BackgroundTask (cyclic
programming) as it is consistent throughout the entire cycle.
The size of the fixed process image of the BackgroundTask for all SIMOTION devices is
64 bytes (address range 0 .. 63).
Note
The fixed process image of the BackgroundTask can be used to access addresses that are
not available in the I/O or not configured in HW Config. These are treated like normal memory
addresses.
Memory area
● As of Version V4.2 of the SIMOTION Kernel, selecting a "Common process image" setting
on the device (Page 285) ensures the memory area for the fixed process image of the
BackgroundTask is a subset of the memory area for the process image of the cyclic tasks.
I/O addresses can be read and written to using both the fixed process image of the
BackgroundTask and the process image of the cyclic tasks.
● With Version V4.1 and lower of the SIMOTION Kernel or the "Separate process image"
setting on the device (as of Version V4.2 of the SIMOTION Kernel), the fixed process image
of the BackgroundTask and the process image of the cyclic tasks occupy different memory
areas.
I/O addresses accessed using the process image of the cyclic tasks cannot be read or
written to using the fixed process image of the BackgroundTask. They are treated like
normal memory addresses.
Table 6-24 Effect of "Common process image" or "Separate process image" settings on the fixed process image of the
BackgroundTask
For information on the order of the Little Endian and Big Endian bytes, please refer to the SIMOTION Basic Functions Function
Manual.
A comparison of the most important properties in comparison to the direct access and process
image of the cyclical tasks (Page 236) is contained in "Important properties of direct access
and process image (Page 234)".
Note
The rules for I/O addresses for direct access and the process image of the cyclical tasks
(Page 240) do not apply. Access to the fixed process image of the BackgroundTask is not
taken into account during the consistency check of the project (e.g. during download).
Addresses not present in the I/O or not configured in HW Config are treated like normal
memory addresses.
You can access the fixed process image of the BackgroundTask by means of:
● Using an absolute PI access (Page 252): The absolute PI access identifier contains the
address of the input/output and the data type.
● Using a symbolic PI access (Page 254): You declare a variable that references the relevant
absolute PI access:
– A unit variable
– A static local variable in a program.
● Using an I/O variable (Page 256): In the symbol browser, you define a valid I/O variable for
the entire device that references the corresponding absolute PI access.
4. Access to the fixed process image of the BackgroundTask always takes place using the
Big Endian byte order.
5. These last two properties (nos. 3 and 4) affect access to inputs and outputs operating with
the Little Endian byte order (e.g. onboard I/O of C240, C240 PN SIMOTION devices).
If the fixed process image of the BackgroundTask is used for access, this leads to the
following behavior, regardless of whether I/O variables have been created for the relevant
addresses for the purpose of direct access or the process image of the cyclic tasks:
– Access to individual bytes always supplies the same result via an I/O variable or the
fixed process image of the BackgroundTask.
– With the fixed process image of the BackgroundTask, bytes only change places if data
type WORD is used for access.
Please also refer to the example below.
For information on the order of the Little Endian and Big Endian bytes, please refer to the
SIMOTION Basic Functions Function Manual.
Example for common process image: Access to I/O operating with the Little Endian byte order
The digital inputs of the C240 SIMOTION device operate with the Little Endian byte order and
occupy addresses 66 (bits 0 ..7) and 67 (bits 0.. 3) by default. The start address is changed
to 60 in HW Config to ensure it is in the range occupied by the fixed process image of the
BackgroundTask. Addresses 60 and 61 are now accessed using various I/O variables and the
process image of the BackgroundTask.
The following three scenarios are considered, which differ in terms of whether and which I/O
variables are created for direct access or the process image of the cyclic tasks:
1. Scenario A:
No I/O variables are created for addresses 60 and 61.
2. Scenario B:
Two I/O variables with data type BYTE are created for addresses 60 and 61: io_byte_60
(PIB60) and io_byte_61 (PIB61).
3. Scenario C:
For adresss 60, one I/O‑Variable with data type WORD is created; this also covers
address 61: io_word_60 (PIW60).
Two additional I/O variables are also created in each of the three scenarios, making it possible
to access bit 3: io_bit_60_3 (PI60.3) and io_bit_61_3 (PI61.3).
The table below lists which values are generated with the following access types:
Table 6-25 "Common process image" setting (as of Kernel V4.2): Different types of access to the
process images of an input operating with the Little Endian byte order
Example for separate process image: Access to I/O operating with the Little Endian byte order
The digital inputs of the C240 SIMOTION device operate with the Little Endian byte order and
occupy addresses 66 (bits 0 ..7) and 67 (bits 0.. 3) by default. The start address is changed
to 60 in HW Config to ensure it is in the range occupied by the fixed process image of the
BackgroundTask. Addresses 60 and 61 are now accessed using various I/O variables and the
process image of the BackgroundTask.
The following three scenarios are considered, which differ in terms of whether and which I/O
variables are created for direct access:
1. Scenario A:
No I/O variables are created for addresses 60 and 61.
2. Scenario B:
Two I/O variables with data type BYTE are created for addresses 60 and 61: io_byte_60
(PIB60) and io_byte_61 (PIB61).
3. Scenario C:
For adresss 60, one I/O‑Variable with data type WORD is created; this also covers
address 61: io_word_60 (PIW60).
Two additional I/O variables are also created in each of the three scenarios, making it possible
to access bit 3: io_bit_60_3 (PI60.3) and io_bit_61_3 (PI61.3).
The table below lists which values are generated with the following access types:
● Direct access:
– Access to individual bytes or the word using the relevant I/O variables
– Access to each individual byte using the _getInOutByte (Page 236) function
– Access to the respective bit 3 using the relevant I/O variables
● Access to the fixed process image of the BackgroundTask:
– Access to individual bytes using an absolute name
– Access to the word using an absolute name
– Access to the respective bit 3 using an absolute name
Table 6-26 "Separate process image" setting or Kernel up to Version V4.1: Different types of access
to the process images of an input operating with the Little Endian byte order
6.3.4.3 Absolute access to the fixed process image of the BackgroundTask (absolute PI access)
You make absolute access to the fixed process image of the BackgroundTask (Page 246) by
directly using the identifier for the address (with implicit data type). The syntax of the
identifier (Page 253) is described in the following section.
You can use the identifier for the absolute PI access in the same manner as a normal
variable (Page 253).
Note
Outputs can be read and written to, but inputs can only be read.
6.3.4.4 Syntax for the identifier for an absolute process image access
For the absolute access to the fixed process image of the BackgroundTask (Page 252), use
the following syntax. This specifies not only the address, but also the data type of the access
and the mode of access (input/output).
You also use these identifiers:
● For the declaration of a symbolic access to the fixed process image of the
BackgroundTask (Page 254).
● For the creation of an I/O variables for accessing the fixed process image of the
BackgroundTask (Page 256).
Table 6-27 Syntax for the identifier for an absolute process image access
Examples
Input at logic address 62, WORD data type: %IW62.
Note
Up to Version V4.1 of the SIMOTION Kernel or the "Separate process image" (Page 250)
setting on the device (as of Version V4.2 of the SIMOTION Kernel), the following applies:
● Addresses accessed using the process image of the cyclic tasks cannot be read or written
to using the fixed process image of the BackgroundTask.
This restriction no longer applies as of Version V4.2 of the SIMOTION Kernel or with the
"Common process image" (Page 248) setting on the device.
Note
The rules for I/O addresses for direct access and the process image of the cyclical tasks
(Page 240) do not apply. Access to the fixed process image of the BackgroundTask is not
taken into account during the consistency check of the project (e.g. during download).
Addresses not present in the I/O or not configured in HW Config are treated like normal
memory addresses.
Several examples for the assignment of variables of the same type follow:
6.3.4.5 Symbolic access to the fixed process image of the BackgroundTask (symbolic PI access)
You can access the fixed process image of the BackgroundTask (Page 246) symbolically
without needing to always specify the absolute process image access.
You can declare symbolic access:
● As a static variable of a program (within the VAR/END_VAR structure in the declaration
section)
● As a unit variable (within the VAR_GLOBAL / END_VAR structure in the interface or
implementation section of the ST source file)
The syntax for declaring a symbolic name for the PI access is shown in the figure:
6\PEROLF3,DFFHVV XQIRUPDWWHG
,QWHJHU
GDWDW\SH
$EVROXWH3,
,GHQWLILHU $7 DFFHVV
%LWGDWDW\SH
5DQJHRIGHFODUHGGDWDW\SHPXVW
FRUUHVSRQGWRWKHUDQJHRIWKH
DEVROXWHLGHQWLILHU
For the absolute PI access, see "Syntax for the identifier for an absolute PI access
(Page 253)".
The range of the declared integer or bit data type must correspond to the range of the absolute
PI access, see "Possible data types of the symbolic PI access (Page 255)". After declaring a
numerical data type, you can address the contents of the process image as an integer.
See also Example for the declaration (Page 256).
For the data type of the absolute PI access, see also "Syntax for the identifier for an absolute
PI access (Page 253)".
VAR
myInput AT %IB10 : BYTE;
END_VAR
If you want to use the integer value of the memory area, declare the myInput variable as follows:
VAR
myInput AT %IB10 : SINT;
END_VAR
If you want to use a CPU memory area other than %IB10 in your program at a later time, you
only need to change the absolute PI access in the variable declaration.
6.3.4.8 Creating an I/O variable for access to the fixed process image of the BackgroundTask
You create I/O variables for access to the fixed process image for the background task in the
symbol browser in the detail view; you must be in offline mode to do this.
Here is a brief overview of the procedure:
1. Select the "Address list" tab in the detail view and choose the SIMOTION device
or
In the project navigator of SIMOTION SCOUT, double-click the "ADDRESS LIST" element
in the SIMOTION device subtree.
2. Select the line before which you want to insert the I/O variable and, from the context menu,
select Insert new line
or
Scroll to the end of the table of variables (empty line).
3. In the detail view, select the Symbol browser tab and scroll down to the end of the variable
table (empty row).
4. In the empty row of the table, enter or select the following:
– Name of variable.
– Under I/O address, the absolute PI access according to the "Syntax for the identifier for
an absolute PI access" (Page 253)
(exception: The syntax %IXn.x or %QXn.x is not permitted for data type BOOL).
– Data type of the I/O variables according to the "Possible data types of the symbolic PI
access" (Page 255).
5. Select optionally the display format used to monitor the variable in the symbol browser.
You can now access this variable using the address list or any program of the SIMOTION
device.
Note
I/O variables can only be created in offline mode. You create the I/O variables in SIMOTION
SCOUT and use them in your program sources.
Note that you can read and write outputs but you can only read inputs.
Before you can monitor and modify new or updated I/O variables, you must download the
project to the target system.
You can use I/O variables like any other variable, see "Access I/O variables" (Page 257).
Note
Consistency is only ensured for elementary data types.
When using arrays, the user is responsible for ensuring data consistency.
Note
If you have declared unit variables or local variables of the same name (e.g. var-name),
specify the I/O variable using _device.var-name (predefined name space, see the "Predefined
name spaces" table in "Name spaces").
It is possible to directly access an I/O variable that you created as a process image of a cyclic
task. Specify direct access with _direct.var-name or _device._direct.var-name.
If you want to deviate from the default behavior when errors occur during variable access, you
can use the _getSafeValue and _setSafeValue functions (see SIMOTION Basic Functions
Function Manual).
For Errors associated with access to I/O variables, see SIMOTION Basic Functions Function
Manual.
Libraries provide you with user-defined data types , functions and function blocks that can be
used from all SIMOTION devices.
Libraries can be written in all programming languages; they can be used in all program sources
(e.g. ST source files, MCC units).
You can obtain more details on inserting and managing libraries in the online help.
Note
The same rules as for the names of program source files apply to the library names, see
Insert ST source file (Page 23). In particular, the permissible length of the name depends on
the SIMOTION Kernel version:
● As of Version V4.1 of the SIMOTION Kernel: maximum 128 characters.
● Up to Version V4.0 of the SIMOTION Kernel: maximum 8 characters.
With versions of the SIMOTION Kernel up to V4.0, a violation of the permissible length of the
library name may not be detected until a consistency check or a download of the project is
performed!
There is also the option of having a library make programs available, which can be called from
other programs or function blocks. Please refer to the conditions which apply when calling a
"program in a program" (Page 186). In each case, the static data for the program called is
stored once in the user memory of the device on which the library program is called. The same
program instance data is used every time the program is called on the same device. A library
program cannot be assigned to the execution system.
Prohibited commands:
● _getTaskId function (see SIMOTION Basic Functions Function Manual).
● _getAlarmId function (see SIMOTION Basic Functions Function Manual).
● _checkEqualTask function (see SIMOTION Basic Functions Function Manual).
● If the library is not device-dependent (i.e. compiled without reference to a SIMOTION device or
SIMOTION Kernel version):
– System functions of SIMOTION devices (see the Parameter Manual for SIMOTION devices)
– Version-dependent system functions
Prohibited variable accesses:
● Unit variables (retentive and non-retentive)
● Global device variables (retentive and non-retentive)
● I/O variables
● Instances of the technology objects and their system variables
● Variables of task names and configured messages (_task and _alarm namespaces, see
Namespaces (Page 265), Predefined namespaces table)
● If the library is not device-dependent (i.e. compiled without reference to a SIMOTION device or
SIMOTION Kernel version):
– System variables of SIMOTION devices (see the Parameter Manual for SIMOTION devices)
– Configuration data of technology objects (see Parameter Manual of configuration data for the
relevant SIMOTION technology package)
Note
The Program status debug function is not available in libraries.
The library is compiled with reference to all selected SIMOTION devices, SIMOTION kernel
versions and technology packages (and independently of devices).
Note
If the library to be compiled imports another library, note the following:
1. For the imported library, at least the same devices and SIMOTION kernel versions must
be selected as for the importing library.
Alternatively, the imported library can be compiled independently of devices if the
prerequisites for this are fulfilled (refer to the SIMOTION Basic Functions Function
Manual).
2. The imported library must already be compiled individually with reference to all configured
devices, kernel versions and technology packages.
Compilation of the library as part of a project-wide compilation is generally not sufficient.
Note
When performing project-wide compilation, note the following:
1. The system automatically identifies dependencies between libraries and selects the
appropriate compilation sequence.
2. A library is only compiled with reference to the SIMOTION devices (including versions of
the SIMOTION kernel) that are configured in the project and which use the library.
3. Other SIMOTION devices and kernel versions set for the library are ignored.
Note
If you export in XML format, the libraries or sources are exported in an encrypted form. When
importing the encrypted XML files, the know-how protection, including login and password,
is retained.
6.4.3 Using data types, functions and function blocks from libraries
Before using data types, functions or function blocks from libraries, you must make them known
to the ST source file. To do so, use the following construct in the interface section of the ST
source file:
In this case, library-name is the name of the library as it appears in the project navigator.
When multiple libraries are to be specified, enter them as a list separated by commas, e.g.:
You can use the optional AS namespace add-on to define a namespace (Page 265).
● You can then access data types, functions, and function blocks in the library that have the
same name as such an ST source file of a SIMOTION device (in the PROGRAMS folder).
● You can also use namespaces to change the names of data types, functions and function
blocks in the library so that they have different names.
IMPLEMENTATION
FUNCTION Function1 : VOID
VAR
ComID : CommandIdType;
END_VAR
ComId := _getCommandId();
END_FUNCTION
PROGRAM Main_program
function1(); // Function from this source
NS_1.Var1:=1;
NS_2.Var1:=2;
NS_1.function1(); // Function from the Bib1 library
NS_2.function1(); // Function from the Bib2 library
END_PROGRAM
END_IMPLEMENTATION
General Information
It is possible to use unit variables and local variables (program variables, FB variables, FC
variables) with the same name. When compiling a program source, the compiler searches for
identifiers beginning with the current POU. The smaller validity range always takes priority over
the larger validity range.
You can therefore use the same identifiers in different source file sections, as long as the rules
below are adhered to. If a higher-level identifier is hidden by an identifier in a unit or POU, the
compiler issues a warning.
Note
Under certain circumstances, the compiler may not issue a warning if, for example, the
associated technology package is not imported.
Identifiers in a unit
Exported identifiers of all units (unit variables, data types, and POUs) must be unique
throughout the device.
All the following identifiers must be unique within a unit:
● Unit variables (declared in the interface or implementation section)
● Data types (declared in the interface or implementation section)
● Program organization units (POUs)
They must not be identical to the following identifiers either:
● Reserved identifiers.
● Unit variables, data types and POU imported units.
● Standard system functions, standard system function blocks, and associated data types.
● System functions and system data types of the SIMOTION device.
● Program organization units (POUs) and data types from imported libraries
– This can be resolved by entering a user-defined namespace.
● System functions and system data types from imported technology packages.
– This can be resolved by entering a user-defined namespace.
The compiler issues a warning when the following identifiers are hidden:
● SIMOTION device variables (system variables, I/O variables, global device variables).
– This can be resolved by entering the predefined namespace _device.
● Technology objects configured on the SIMOTION device.
– This can be resolved by entering the predefined namespace _to.
Identifiers on the SIMOTION device (e.g. I/O variables, global device variables)
All the following identifiers on the SIMOTION device must be unique:
● I/O variables
● Global device variables
● System variables of the SIMOTION device
● System functions and system data types of the SIMOTION device.
They must not be identical to the following identifiers either:
● Reserved identifiers.
● Standard system functions, standard system function blocks, and associated data types.
Example
The following example illustrates this situation. It shows that for use of identical names for unit
variables (large validity range) and FC variables (small variable scope), only the variables
declared in the function are valid within this source file section. The unit variables are only valid
in POUs in which no local variables of the same name were declared. See the example.
VAR_GLOBAL
var_a, var_b : DINT; // Unit variables
END_VAR
6.5.2 Namespaces
You can also access data types, unit variables, functions, and function blocks defined outside
of a program source (e.g. in libraries, technology packages, and on the SIMOTION device)
using their names.
When compiling a program source, the compiler searches for identifiers beginning with the
current POU. The data types, variables, functions, or function blocks declared in a program
source therefore hide identifiers with the same name which have been defined outside the
source, see Use of the same identifiers (Page 262). In order to still access these hidden
identifiers, you can use namespaces in certain cases.
User-defined namespace
In the import statement for libraries and technology packages, you can define namespaces in
order to access the data types, functions, or function blocks of these libraries and technology
packages.
You can also use namespaces to make names consistent within different libraries.
If you wish to use a data type, a function or a function block from a library or a technology
package, place the namespace identifier in front of the name, separated by a period, for
example, namespace.fc-name, namespace.fb-name, namespace.type-name
Example
The following example shows how to select the Cam technology package, assign it the
namespace Cam1 and use the namespace:
IMPLEMENTATION
FUNCTION function1 : VOID
VAR_INPUT
p_Axis : posAxis;
END_VAR
VAR
retVal : DINT;
END_VAR
retVal:= Cam1._enableAxis (
axis := p_Axis,
nextCommand := Cam1.WHEN_COMMAND_DONE,
commandId := _getCommandId() );
END_FUNCTION
END_IMPLEMENTATION
Note
If a namespace is defined for an imported library or technology package, this must always
be specified if a function, function block, or data type from this library or technology package
is being used. See above example: Cam1._enableAxis, Cam1.WHEN_COMMAND_DONE.
Predefined namespace
Namespaces are predefined for device- and project-specific variables as well as TaskID and
AlarmID variables. If necessary, write their designation before the variable names, separated
by a period, for example, _device.var-name or _task.task-name
Namespace Description
_alarm For AlarmId: The _alarm.name variable contains the AlarmId of the message with
the name identifier (see SIMOTION Basic Functions Function Manual).
_device For device-specific variables (global device variables, I/O variables, and system
variables of the SIMOTION device).
_direct For direct access to I/O variables – see Direct access and process image of the
cyclic tasks (Page 236).
Local namespace for _device. Nesting as in _device._direct.name is permitted.
Namespace Description
_project For names of SIMOTION devices in the project; only used with technology objects
on other devices.
With unique project-wide names of technology objects, used also for these names
and their system variables.
_task For TaskID: The _task.name variable contains the TaskId of the task with the
name identifier (see SIMOTION Basic Functions Function Manual).
_quality As of Version V4.2 of the SIMOTION Kernel: For the detailed status of I/O
variables (Page 244). A value with data type DWORD is supplied.
Local namespace for _device. Nesting as in _device._quality.name is permitted.
_to For technology objects configured on the SIMOTION device, and their system
variables and configuration data.
Not for system functions and data types of the technology objects. In this case, if
necessary, use the user-defined namespace for the imported technology package
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The cross-reference list shows all identifiers in program sources (e.g. ST source files, MCC
units):
● Declared as variables, data types, or program organization units (program, function,
function block)
● Used as previously defined types in declarations
● Used as variables in the statement section of a program organization unit.
Update of the cross-reference list when selecting a tree (CPU, project, library, program folder)
The cross-reference list is generated automatically when opening the first time. There is no
automatic update when opened again.
Note
An error-free compilation is required for a correct, consistent display of the reference data. If
required, compile the project, the CPU, the program or the library first.
Table 6-33 Meanings of columns and selected entries in the cross-reference list
Note
Single-step tracking and trace diagnostic functions in MCC programming
Additional variables and functions are created or used for these diagnostics functions:
● The variables TSI#dwuser_1 and TSI#dwuser_2 of the TaskStartInfo are used for the
single-step tracking diagnostic function.
● Various internal functions and variables, whose identifier begins with an underscore, are
automatically created by the compiler for the trace diagnostic function. The
TSI#currentTaskId variable of the TaskStartInfo is also used.
With activated diagnostic function, these variables and functions are used for the control of
the diagnostics function. These variables and functions must not be used in the user program.
Note
A filter is automatically activated after the cross-reference list has been created.
The program structure contains all the function calls and their nesting within a selected element.
You can display the program structure selectively for:
● An individual program source (e.g. ST source file, MCC unit, LAD/FBD source file)
● All program sources of a SIMOTION device
● All program sources and libraries of the project
● Libraries (all libraries, single library, individual program source within a library)
Proceed as follows:
1. In the project navigator, select the element for which you want to display the program
structure.
2. Select the Edit > Display reference data > Program structure menu command.
The cross-reference tab is replaced by the program structure tab in the detail view.
Note
The display data is updated every time the program structure is opened.
You can update the detail view of an opened program structure with the F5 key.
Element Description
Base List separated by a comma
(declared POU or ● Identifier of the program organization unit (POU) or task
task used))
● Identifier of the program source in which the POU or task was declared, with
add-on [UNIT]
● Minimum and maximum stack requirement (memory requirement of the
POU or task on the local data stack), in bytes [Min, Max]
● Minimum and maximum overall stack requirement (memory requirement of
the POU or task on the local data stack including all called POUs), in bytes
[Min, Max]
Referenced POU List separated by a comma:
● Identifier of called POU
● Optionally: Identifier of the program source / technology package in which
the POU was declared:
Add-on (UNIT): User-defined program source
Add-on (LIB): Library
Add-on (TP): System function from technology package
● Only for function blocks: Identifier of instance
● Only for function blocks: Identifier of program source in which the instance
was declared:
Add-on (UNIT): User-defined program source
Add-on (LIB): Library
● Line of (compiled) source in which the POU is called; several lines are
separated by "|".
You can find information on or the memory requirement of various data areas of the program
sources under code attribute.
You can display the code attributes selectively for:
● An individual program source (e.g. ST source file, MCC unit, LAD/FBD source file)
● All program sources of a SIMOTION device
Note
The display data is updated every time the code attributes are opened.
You can update the detail view of the opened code attributes with the F5 key.
1. The identifier is declared as a variable. The scope of the variable includes the respective
window (ST source, MCC chart, LAD/FBD program).
2. The program source is compiled.
3. The variable is selected as follows (in an open parameter screen within an MCC chart):
– The identifier is fully marked
or
– The cursor is within the identifier.
Note
In arrays and structures, only the variable can be selected, not a single element.
A pragma is used to insert an ST source file text (e.g. statements), which influences the
compilation of the ST source file.
Pragmas are enclosed in { and } braces and can contain
(see figure):
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Note
Be sure to use the correct pragma syntax (e.g. upper and lower case notation of attributes).
Unrecognized pragmas are ignored with no warning message.
The preprocessor prepares an ST source file for compilation. For example, character strings
can be defined as replacement texts for identifiers, or sections of the source program can be
hidden/shown for compilation.
The preprocessor is disabled by default. You can activate it as follows:
● Globally for all program source files and programming languages within the project, see
"Global settings of the compiler (Page 57)".
● Local for a program source file, see "Local compiler settings (Page 59)".
During the compilation of a program source file, you will be informed about the preprocessor
actions. This requires, however, that the display of class 7 warnings is activated, see Meanings
of the warning classes (Page 65). You specify the details for issued warnings and information:
● In the global or local settings of the compiler.
● With the _U7_PoeBld_CompilerOption := warning:n:off or warning:n:on attribute within an
ST source file, see "Controlling compiler with attributes (Page 281)".
Like all compiler messages, information about the preprocessor actions is shown on the
"Compile/check output" tab of the detail view.
Note
You can also view the text of the ST source file modified by the preprocessor:
1. Open the ST source file.
2. Select the ST source file > Execute preprocessor menu command.
The modified source text is shown in the "Compile/check output" tab of the detail view.
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Statement Meaning
#define The specified identifier will be replaced below by the specified text.
Permissible characters: See table footnote.
#undef The replacement rule for the identifier is cancelled.
#ifdef For variant formation (conditional compilation)
If the specified identifier is defined, the following program lines (until the next
pragma that contains #else or #endif) are compiled by the compiler.
#ifndef For variant formation (conditional compilation)
If the specified identifier is not defined, the following program lines (until the next
pragma that contains #else or #endif) are compiled by the compiler.
#else For variant formation (conditional compilation)
Alternative branch to #ifdef or #ifndef.
The following program lines (until the next pragma containing #endif) are compiled
by the compiler, if the preceding query with #ifdef or #ifndef was not fulfilled.
#endif Concludes variant formation with #ifdef or #ifndef.
Permissible characters:
● For identifiers: In accordance with the rules for identifiers (Page 89).
● For text: Sequence of any characters other than \ (backslash), ’ (single quote) and ” (double quote).
The keywords USES, USELIB and USEPACKAGE are not permitted.
Note
Each preprocessor statement must begin with a new line and end with a line break.
Consequently, the curly brackets ({ and }) enclosing the pragma must be placed in separate
lines of the ST source file!
In the case of pragmas with #define statements, please note:
● Pragmas with #define statements in the interface section of an ST source file are exported.
The defined identifiers can be imported with the USES statement into other ST source
files of the same SIMOTION device or of the same library.
● Identifiers defined in pragmas of libraries cannot be imported into ST source files of a
SIMOTION device.
● Redefinition of reserved identifiers is not possible.
You can also make preprocessor definitions in the Properties dialog box of the ST source
file. In the case of different definitions of the same identifiers, #define statements within the
ST source file have priority.
IMPLEMENTATION IMPLEMENTATION
FUNCTION f : INT FUNCTION f : INT
VAR_INPUT VAR_INPUT
i : INT; i : INT;
END_VAR END_VAR
f := i; f := i;
END_FUNCTION END_FUNCTION
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Note
Be sure to use the correct upper- and lower-case notation for attributes!
Note
The insertion, deletion or changing of the HMI_Export, BlockInit_OnChange or
BlockInit_OnDeviceRun attributes in a declaration block does not change its version
identification!
IMPLEMENTATION
VAR_GLOBAL
{ HMI_Export := TRUE;
BlockInit_OnDeviceRun := ALWAYS; }
// HMI export, initialization for the STOP -> RUN transition
y : DINT;
END_VAR
FUNCTION_BLOCK fb1
VAR_INPUT
i_var : INT;
END_VAR
VAR_OUTPUT
o_var : INT;
END_VAR
{ _U7_PoeBld_CompilerOption := warning:2:on; }
o_var := REAL_TO_INT(1.0); // Warning 16004
{ _U7_PoeBld_CompilerOption := warning:2:off; }
o_var := REAL_TO_INT(1.0); // No warning 16004
{ _U7_PoeBld_CompilerOption := warning:16004:on; }
o_var := REAL_TO_INT(1.0); // Warning 16004
{ _U7_PoeBld_CompilerOption := warning:16004:off; }
o_var := REAL_TO_INT(1.0); // No warning 16004
{ _U7_PoeBld_CompilerOption := warning:2:off;
_U7_PoeBld_CompilerOption := warning:16004:on; }
o_var := REAL_TO_INT(1.0); // Warning 16004
END_FUNCTION_BLOCK
END_IMPLEMENTATION
All characters of the extended ASCII character set (ASCII code $20 to $7E, $80 to $FF) that
can be displayed are permitted for the identifier of a SIMOTION device, except the following
special characters:
● " (double inverted commas, ASCII code $22),
● & (Et character, ampersand, ASCII code $26),
● * (star, ASCII code $2A),
● : (colon, ASCII code $3A),
● < (less than character, ASCII code $3C),
● > (greater than character, ASCII code $3E),
● ? (question mark, ASCII code $3F),
● \ (backslash, ASCII code $5C),
● | (vertical line, ASCII code $7C).
Identifiers for the SIMOTION devices can only be specified in SIMOTION SCOUT or HW Config
and only used in the programming languages.
Examples of valid device identifiers
● C240.2
● D455-2-DP (1)
● D445-2.PN-1
Device identifiers that do not comply with the general rules for identifiers can be used for
SIMOTION devices of all versions (or all versions of the SIMOTION Kernel).
Note
Projects that contain device identifiers, which do not comply with the general Rules for
identifiers (Page 89), cannot be saved in the old project format (up to and including V4.2).
Note
Device identifiers that comply with the general Rules for identifiers (Page 89) can also be
enclosed in double inverted commas.
Example: The following notations are permitted for access to the system variable
motionStateData.motionState of the technology object axis_2 on the device D435_2:
● D435_2.axis_2.motionStateData.motionState
● "D435_2".axis_2.motionStateData.motionState
Procedure
Settings on the device can be made as follows:
1. Select the SIMOTION device in the project navigator.
2. Select the Edit > Object Properties menu command.
3. Select the Settings tab.
4. Enter the settings.
5. Confirm with OK.
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Once the prototype of a function block has been declared, an instance of the function block
can be declared; the function block is not implemented in the ST source file until after these
steps have been performed.
If a function or a program is called prior to being implemented, the declaration of the prototype
is optional; the call can still be carried out even if the prototype is not declared. Please note
the additional relevant requirements when calling a program within a program.
Note
If the POU prototypes within the interface section have been declared, the corresponding
POUs are exported.
Export statements for POUs within the interface section (e.g. FUNCTION_BLOCK fb‑name;)
are also interpreted as prototypes.
If the "Permit forward declarations" compiler option (Page 57) is not activated, the POU
prototypes are ignored. Only the prototypes in the interface section are interpreted as export
statements for the corresponding POUs.
Example
(*
Only if the "Permit forward declarations" compiler option is activated.
*)
(*
The following compiler options also need to be activated
due to a program being called within the program:
"Permit language extensions" and
"Only create program instance data once".
*)
INTERFACE
PROGRAM prog_main;
END_INTERFACE
IMPLEMENTATION
TYPE // POU prototypes
FUNCTION_BLOCK fb_1; // Required for instance declaration
FUNCTION fc_1; // Optional
PROGRAM prog_1; // Optional
END_TYPE
PROGRAM prog_main
VAR
var_1, var_2 : DINT;
var_3, var_4 : INT;
END_VAR
// Implementations
FUNCTION_BLOCK fb_1
VAR_INPUT
x_in : INT;
END_VAR
VAR_OUTPUT
x_out : INT;
END_VAR
x_out := x_in;
END_FUNCTION_BLOCK
fc_1 := x_in;
END_FUNCTION
PROGRAM prog_1
VAR
var_int1, var_int2 : INT;
END_VAR
var_int1 := var_int2;
END_PROGRAM
END_IMPLEMENTATION
x := y;
lab_1 : y := z; // Jump label with statement
IF x = y THEN
GOTO lab_2; // Jump statement
END_IF;
GOTO lab_1; // Jump statement
lab_2 : ; // Jump label with blank statement
END_FUNCTION
Note
You should only use the GOTO statement in special circumstances (for example, for
troubleshooting). It should not be used at all according to the rules for structured programming.
Jumps are only permitted within a POU.
The following jumps are illegal:
● Jumps to subordinate control structures (WHILE, FOR, etc.)
● Jumps from a WAITFORCONDITION structure
● Jumps within CASE statements
Jump labels can only be declared in the POU in which they are used. If jump labels are
declared, only the declared jump labels may be used.
Syntax errors are detected and displayed by the ST compiler during the compilation procedure.
Runtime errors in the execution of the program are displayed by system alarms or lead to the
operating mode STOP. You can find logical programming errors with the test functions of ST,
e.g. with the symbol browser, status program, trace.
To achieve the same results as shown below using the test functions, use of the sample
program in Creating a sample program (Page 76) is recommended.
Note
Runtime and memory utilization increase as the use of diagnostic functions increases.
Debug mode In addition to the diagnostic functions of the test mode, you can use the following functions:
● Breakpoints
Within a program source, you can set breakpoints (Page 312). When an activated breakpoint
is reached, selected tasks will be stopped.
● Controlling MotionTasks
On the "Task Manager" tab of the device diagnostics, you can use task control commands for
MotionTasks; see the SIMOTION Basic Functions Function Manual.
No more than 1 SIMOTION device of the project can be switched to debug mode.
SIMOTION SCOUT is in online mode, i.e. connected to the target system.
Observe the following section: Important information about the life-sign monitoring (Page 295).
1
Each with 1 MCC chart or 1 LAD/FBD program in a program source.
WARNING
Dangerous plant states possible
If problems occur in the communication link between the PC and the SIMOTION device, this
may result in dangerous plant states (e.g. the axis may start moving in an uncontrollable
manner).
Therefore, use the debug mode or a control panel only with the life-sign monitoring function
activated with a suitably short monitoring time!
You must observe the appropriate safety regulations.
The function is released exclusively for commissioning, diagnostic and service purposes. The
function should generally only be used by authorized technicians. The safety shutdowns of
the higher-level control have no effect.
Therefore, there must be an EMERGENCY STOP circuit in the hardware. The appropriate
measures must be taken by the user.
In the following cases, the SIMOTION device and SIMOTION SCOUT regularly exchange life-
signs to ensure a correctly functioning connection:
● In debug mode with activated breakpoints.
● When controlling an axis or a drive via the control panel (control priority at the PC):
If the exchange of the life-signs is interrupted longer than the set monitoring time, the following
reactions are triggered:
● In debug mode for activated breakpoints:
– The SIMOTION device switches to the STOP operating state.
– The outputs are deactivated (ODIS).
● For controlling an axis or a drive using the control panel (control priority for the PC):
– The axis is brought to a standstill.
– The enables are reset.
Note
The life-sign monitoring also responds in the following cases:
● Pressing the spacebar.
● Switching to a different Windows application.
● Too high a communication load between the SIMOTION device and SIMOTION SCOUT
(e.g. by uploading task trace data).
The following reactions are triggered:
● In debug mode for activated breakpoints:
– The SIMOTION device switches to the STOP operating state.
– The outputs are deactivated (ODIS).
● For controlling an axis or a drive using the control panel (control priority for the PC):
– The axis or the drive is brought to a standstill.
– The enables are reset.
WARNING
Dangerous plant states possible
This function is not guaranteed in all operating states.
Therefore, there must be an EMERGENCY STOP circuit in the hardware. The appropriate
measures must be taken by the user.
Field Description
Life-sign monitoring The SIMOTION device and SIMOTION SCOUT regularly
exchange life-signs to ensure a correctly functioning connection.
If the exchange of the life-signs is interrupted longer than the set
monitoring time, the following reactions are triggered:
● In debug mode for activated breakpoints:
– The SIMOTION device switches to the STOP operating
state.
– The outputs are deactivated (ODIS).
● For controlling an axis or a drive using the control panel
(control priority for the PC):
– The axis is brought to a standstill.
– The enables are reset.
The following parameterizations are possible:
● Checkbox active:
If the checkbox is activated, life-sign monitoring is active.
The deactivation of the life-sign monitoring is not always
possible.
● Monitoring time:
Enter the timeout.
Prudence
Do not make any changes to the defaults for life-sign monitoring,
if possible.
Changes should only be made in special circumstances and in
observance of all danger warnings.
Safety information Please observe the warning!
Click the button to obtain further safety information.
See: Important information about the life-sign monitoring
(Page 295)
1. This program source or any POU of this source (e.g. MCC chart) does not contain any
changes which have not been saved.
2. The program source (unit) in SCOUT is consistent with the target system.
Note
If the "program status" test function is activated, editing of the corresponding program source
or one of its POUs is disabled.
If an MCC unit or MCC chart is changed and the "monitor program execution" or trace test
functions are active for that unit or chart, the test functions are canceled.
Note
If breakpoints have been activated and the SIMOTION device is in debug mode:
Entering a space switches the SIMOTION device to STOP operating mode and deactivates
all outputs (ODIS).
Requirements
● Make sure that a connection to the target system has been established and a project has
been downloaded to the target system. To load the project with the sample program, see
"Executing the sample program (Page 83)".
● You can run the user program, but you do not have to. If the program is not run, you only
see the initial values of the variables.
The procedure depends on the memory area in which the variables to be monitored are stored.
Procedure
Proceed as follows:
1. Select the appropriate element in the project navigator in accordance with the following
table.
2. In the detail view, click the Symbol browser tab.
The corresponding variables are displayed in the symbol browser.
3. Select how each variable in the "Display format" column should be displayed.
Table 7-3 Elements in the project navigator and variables to be monitored in the symbol browser
Note
You can monitor temporary variables (together with unit variables and static variables) with
Program status (see Properties of the program status (Page 307)).
Note
Trace diagnostic function for MCC programming
Various internal variables, whose identifier begins with an underscore, are automatically
created by the compiler for the trace diagnostic function. These variables are displayed in
the symbol browser.
With activated diagnostic function, these variables are used for the control of the diagnostics
function. These variables must not be used in the user program.
WARNING
Dangerous plant states possible
You assign the entered values to the variables during control. This can result in dangerous
plant states, e.g. unexpected axis motion.
Note
Note when you change the values of several variables:
The values are written sequentially to the variables. It can take several milliseconds until the
next value is written. The variables are changed from top to bottom in the symbol browser.
There is therefore no guarantee of consistency.
Display Meaning
1.#QNAN Invalid bit pattern in accordance with IEEE 754 (NaN Not a Number). There is no
-1.#QNAN distinction between signaling NaN (NaNs) and quiet NaN (NaNq).
1.#INF Bit pattern for + infinity in accordance with IEEE 754
-1.#INF Bit pattern for – infinity in accordance with IEEE 754
-1.#IND Bit pattern for indeterminate
WARNING
Dangerous plant states possible
You assign the entered values to the variables during control. This can result in dangerous
plant states, e.g. unexpected axis motion.
Note
Note when you change the values of several variables:
The values are written sequentially to the variables. It can take several milliseconds until the
next value is written. The variables are changed from top to bottom in the watch table. There
is therefore no guarantee of consistency.
Display Meaning
1.#QNAN Invalid bit pattern in accordance with IEEE 754 (NaN - Not a Number). There is
-1.#QNAN no distinction between signaling NaN (NaNs) and quiet NaN (NaNq).
1.#INF Bit pattern for + infinity in accordance with IEEE 754
-1.#INF Bit pattern for – infinity in accordance with IEEE 754
-1.#IND Bit pattern for indeterminate
Requirements
● Make sure that a connection to the target system has been established and a project has
been downloaded to the target system. For information on loading a project, see "Running
the sample program (Page 83)".
● The program source containing the program organization unit (POE) whose variables you
want to monitor must be consistent with the target system.
● The associated source (e.g. ST source file, MCC chart, LAD program) must be open.
● With the MCC programming language only: The parameter screen form for the command
in which the variable you want to monitor is being used must be open.
● You can run the user program, but you do not have to. If the program is not run, you only
see the initial values of the variables.
Procedure
To monitor an individual variable using variable status:
1. Position the cursor above the identifier for a variable.
– With the ST programming language: in the open ST source file
– With the ST programming language: within an input field in the open parameter screen
form
– With the LAD/FBD programming language: within a network of the LAD/FBD program
2. Briefly position the cursor above the identifier.
The tool tip shows the current value of the variable. If you keep the cursor above the identifier
for a longer period, the value is updated on an ongoing basis.
Note
With "variable status", the current value for the variable is displayed, wherever the selected
variable is being used.
The "variable status" function enables you to monitor all those variables you are also able to
monitor in the symbol browser (Page 299) or the address list. These are:
● System variables of SIMOTION devices
● System variables of technology objects
● Global device variables
● Retentive and non-retentive unit variables of the interface section of a program source (unit)
● Retentive and non-retentive unit variables of the implementation section of a program
source (unit)
● Static variables of the programs
● Static variables of the function blocks whose instances are declared as unit variables
● Static variables of the function blocks whose instances are declared as static variables of
programs
● I/O variables
1. Click the Show program run button on the Program run toolbar.
The "Program run call stack (Page 306)" window opens.
2. Select the desired MotionTask.
3. Click the Update button.
The window shows:
● The position in the code being executed (e.g. line of the ST source file) stating the program
source and the POU.
● Recursively positions in the code of other POUs that call the code position being executed.
The following names are displayed for the SIMOTION RT program sources:
Name Meaning
taskbind.hid Execution system
stdfunc.pck IEC library
device.pck Device-specific library
tp-name.pck Library of the tp-name technology package,
e.g. cam.pck for the library of the CAM technology package
Array Description
Selected CPU The selected SIMOTION device is displayed.
Refresh Clicking the button reads the current code positions from the
SIMOTION device and shows them in the open window.
Calling task Select the task for which you want to determine the code position
being executed.
All configured tasks of the execution system.
Current code position The position being executed in the program code (e.g. line of an ST
source file) is displayed (with the name of the program source, line
number, name of the POU).
is called by The code positions that call the code position being executed within
the selected task are shown recursively (with the name of the program
source, line number, name of the POU, and name of the function block
instance, if applicable).
For names of the SIMOTION RT program sources, refer to the table in Program run
(Page 305).
Symbol Meaning
Display program run
Click this symbol to open the Program run call stack window. In this window, you can
display the currently active code position with its call path.
See: Program run: Display code position and call path (Page 305)
Note
The values of constants are not displayed.
Due to the restricted buffer capacity and the requirement for minimum runtime tampering, the
following variables cannot be displayed:
● Complete arrays
● Complete structures
Individual array elements or individual structure elements are displayed, however, provided
an assignment is made in the ST source file.
Table 7-9 Differences between process mode and test mode in Program Status
Note
Program status requires additional CPU resources.
Please note if you want to monitor several programs at the same time with the status program:
● Test mode must be activated (see Operating modes of the SIMOTION devices
(Page 292)).
● In version V3.2 of the SIMOTION Kernel, the programs must be assigned to various tasks.
● Click the button for Stop monitoring of program variables in the ST editor toolbar
(Page 49) to stop the display.
● Click the button for Continue monitoring of program variables in the ST editor toolbar
(Page 49) to continue the display.
You can force the update of the displayed values:
● Click the button for Update on the ST editor toolbar (Page 49).
The buffer of the SIMOTION device is read, even if the selected monitoring range has not
yet been completely processed and the values are incomplete. This can be useful, for
example, if the program is waiting for a WAITFORCONDITION statement.
The monitoring of the program variables must have been activated.
Field Description
Calling task Select the task.
All tasks in which the selected code position is called are available for
selection.
Current code position The selected section of the POU (code position) is shown (with the
name of the ST source file, line number, name of the POU)
is called by Select the calling code position.
The following are available:
● The code positions to be called within the selected task (with the
name of the program source, line number, name of the POU).
If the selected calling code position is in turn called by several code
positions, further lines are displayed in which you proceed
similarly.
● All:
All displayed code positions are selected. Moreover, all code
positions (up to the top level of the hierarchy) are selected from
which the displayed code positions are called.
7.2.8 Breakpoints
Requirement:
● The program source with the POU (e.g. ST source file, MCC chart, LAD/FBD program) is
open.
Procedure
Follow these steps:
1. Select "Debug mode" for the associated SIMOTION device; see Setting debug mode
(Page 313).
2. Specify the tasks to be stopped, see Specifying the debug task group (Page 314).
3. Set breakpoints, see Setting breakpoints (Page 318).
4. Define the call path, see Defining a call path for a single breakpoint (Page 321).
5. Activate the breakpoints, see Activating breakpoints (Page 327).
WARNING
Dangerous plant states possible
If problems occur in the communication link between the PC and the SIMOTION device, this
may result in dangerous plant states (e.g. the axis may start moving in an uncontrollable
manner).
Therefore, use the debug mode only with activated life-sign monitoring (Page 295) with a
suitably short monitoring time!
You must observe the appropriate safety regulations.
The function is released exclusively for commissioning, diagnostic and service purposes. The
function should generally only be used by authorized technicians. The safety shutdowns of
the higher-level control have no effect!
Therefore, there must be an EMERGENCY STOP circuit in the hardware. The appropriate
measures must be taken by the user.
Requirement
1. A connection to the target system must have been established (online mode)
2. Debug mode must not be selected for any SIMOTION device.
Procedure
To set the debug mode, proceed as follows:
1. Highlight the SIMOTION device in the project navigator.
2. Select Operating mode from the context menu.
3. Select Debug mode (Page 292).
4. Accept the safety information
5. Parameterize the sign-of-life monitoring.
See also section: Important information about the life-sign monitoring (Page 295).
6. Confirm with OK.
SIMOTION SCOUT switches to debug mode for this device; the SIMOTION device itself
remains in "test mode", as long as at least one breakpoint is activated:
The project navigator indicates that debug mode is activated for SIMOTION SCOUT by means
of a symbol next to the SIMOTION device.
The breakpoints toolbar (Page 320) is displayed.
As long as no breakpoints are activated, you can edit program sources in debug mode
(Page 297).
Debug mode is not enabled for the SIMOTION device until at least one set breakpoint is
activated. If all breakpoints are deactivated, debug mode is canceled for the SIMOTION device.
The status bar indicates that debug mode is activated for the SIMOTION device.
Note
Pressing the spacebar or switching to a different Windows application causes the following
to happen if the SIMOTION device is in debug mode (breakpoints activated):
● The SIMOTION device switches to the STOP operating state.
● The outputs are deactivated (ODIS).
WARNING
Dangerous plant states possible
This function is not guaranteed in all operating states.
Therefore, there must be an EMERGENCY STOP circuit in the hardware. The appropriate
measures must be taken by the user.
Requirement
1. A connection to the target system must have been established (online mode).
2. SIMOTION SCOUT is in debug mode for the corresponding SIMOTION device; see Setting
debug mode (Page 313).
Procedure
How to assign a task to the debug task group:
1. Highlight the relevant SIMOTION device in the project navigator.
2. Select Debug task group from the context menu.
The Debug Task group window opens.
3. Select the tasks to be stopped on reaching the breakpoint:
– If you only want to stop individual tasks (in RUN operating state): Activate the Debug
task group selection option.
Assign all tasks to be stopped on reaching a breakpoint to the Tasks to be stopped list.
– If you only want to stop individual tasks (in HOLD operating state): Activate the All
tasks selection option.
In this case, also select whether the outputs and technology objects are to be released
again after resumption of program execution.
Note
Note the different behavior when an activated breakpoint is reached, see the following table.
Table 7-11 Behavior at the breakpoint depending on the tasks to be stopped in the debug task group.
Note
You can only make changes to the debug task group if no breakpoints are active.
The settings of the debug task group are retained after exiting "Debug mode".
Proceed as follows:
1. Set breakpoints (see Setting breakpoints (Page 318)).
2. Define the call path (see Defining a call path for a single breakpoint (Page 321)).
3. Activate the breakpoints (see Activating breakpoints (Page 327)).
Field Description
Debug task group Select this selection option if you only want to stop individual tasks.
The SIMOTION device remains in RUN mode after an activated
breakpoint is reached. Outputs and technology objects remain
activated.
Assign all tasks to be stopped on reaching a breakpoint to the Tasks
to be stopped list.
All tasks Select this selection option if you only want to stop all user tasks. The
SIMOTION device remains in STOP mode after an activated
breakpoint is reached, all outputs and technology objects will be
deactivated (ODIS activated).
In this case, also select whether the outputs and technology objects
are to be released again after resumption of program execution.
'Resume' activates the outputs Only if All tasks is selected.
(ODIS deactivated). Activate the checkbox, to release again the outputs and technology
objects after program execution has been resumed.
All outputs and technology objects can only be released after a
download of the project with deactivated checkbox.
Note
Note the different behavior at the activated breakpoint depending on the tasks to be stopped,
see table in Define the debug task group (Page 314).
You can only make changes to the debug task group if no breakpoints are active.
Field Description
Debug points (table)
Active The activation state of the corresponding breakpoint is
displayed and can be modified:
Active: The breakpoint is activated.
Inactive: The breakpoint is deactivated.
See: Activating breakpoints (Page 327).
Source, line (POU) The code position is shown with the set breakpoint (with the
name of the program source file, line number, name of the
POU).
Call path Click the button to define the call path for the breakpoint.
See: Defining the call path for a single breakpoint (Page 321).
All breakpoints ...
Field Description
Activate Click the button to activate all breakpoints (in all program
sources) of the SIMOTION device.
See: Activating breakpoints (Page 327).
Deactivate Click the button to deactivate all breakpoints (in all program
sources) of the SIMOTION device.
See: Activating breakpoints (Page 327).
Delete Click the button to clear all breakpoints (in all program sources)
of the SIMOTION device.
See: Setting breakpoints (Page 318).
Requirements:
1. The program source with the POU (e.g. ST source file, MCC chart, LAD/FBD program) is
open.
2. A connection to the target system must have been established (online mode).
3. SIMOTION SCOUT is in debug mode for the corresponding SIMOTION device; see Setting
debug mode (Page 313).
4. The tasks to be stopped are specified, see Specifying the debug task group (Page 314).
Procedure
How to set a breakpoint:
1. Select the code location where no breakpoint has been set:
– SIMOTION ST: Place the cursor on a line in the ST source file that contains a statement.
– SIMOTION MCC: Select an MCC command in the MCC chart (except module or
comment block).
– SIMOTION LAD/FBD: Set the cursor in a network of the LAD/FBD program.
2. Perform the following (alternatives):
– Select the Debug > Set/remove breakpoint menu command (shortcut F9).
– Click the button in the Breakpoints toolbar.
To remove a breakpoint, proceed as follows:
1. Select the code position with the breakpoint.
2. Perform the following (alternatives):
– Select the Debug > Set/remove breakpoint menu command (shortcut F9).
– Click the button in the Breakpoints toolbar.
To remove all breakpoints (in all program sources) of the SIMOTION device, proceed as
follows:
Note
You cannot set breakpoints:
● For SIMOTION ST: In lines that contain only comment.
● For SIMOTION MCC: On the module or comment block commands.
● For SIMOTION LAD/FBD: Within a network.
● At code locations in which other debug points (e.g. trigger points) have been set.
You can list the debug points in all program sources of the SIMOTION device in the debug
table:
● Click the button for "debug table" in the Breakpoints toolbar.
In the debug table, you can also remove all breakpoints (in all program sources) of the
SIMOTION device:
● Click the button for "Clear all breakpoints".
The breakpoints set also remain saved after leaving debug mode; they are displayed in debug
mode only.
You can use the program status (Page 309) diagnosis functions and breakpoints together in
a program source or POU. However, the following restrictions apply depending on the program
languages:
● SIMOTION ST: For version V3.2 of the SIMOTION Kernel, the (marked) ST source file lines
to be tested with program status must not contain a breakpoint.
● SIMOTION MCC and LAD/FBD: The commands of the MCC chart (or networks of the LAD/
FBD program) to be tested with program status must not contain a breakpoint.
Proceed as follows
1. Define the call path, see Defining a call path for a single breakpoint (Page 321).
2. Activate the breakpoints, see Activating breakpoints (Page 327).
Symbol Meaning
Set/remove breakpoint
Click this icon to set at breakpoint for the selected code position or to remove an existing
breakpoint.
See: Setting breakpoints (Page 318).
Activate/deactivate breakpoint
Click this icon to activate or deactivate the breakpoint at the selected code position.
See: Activating breakpoints (Page 327).
Edit the call path
Click this icon to define the call path for the breakpoints:
● If a code position with breakpoint is selected: The call path for this breakpoint.
● If a code position without breakpoint is selected: The call path for all breakpoints of
the POU.
See: Defining the call path for a single breakpoint (Page 321), Defining the call path for
all breakpoints (Page 324).
Activate all breakpoints of the active POU
Click this symbol to activate all breakpoints in the active program source or POU
(e.g. ST source file, MCC chart, LAD/FBD program).
See: Activating breakpoints (Page 327).
Deactivate all breakpoints of the active POU
Click this symbol to deactivate all breakpoints in the active program source or POU
(e.g. ST source file, MCC chart, LAD/FBD program).
See: Activating breakpoints (Page 327).
Remove all breakpoints of the active POU
Click this symbol to remove all breakpoints from the active program source or POU
(e.g. ST source file, MCC chart, LAD/FBD program).
See: Setting breakpoints (Page 318).
Debug table
Click this icon to display the debug table.
See: Debug table parameters (Page 317).
Display call stack
Click this icon after reaching an activated breakpoint to:
● View the call path at the current breakpoint.
● View the code positions at which the other tasks of the debug task group have been
stopped together with their call path.
See: Displaying the call stack (Page 330).
Resume
Click this icon to continue the program execution after reaching an activated breakpoint.
See: Resuming program execution (Page 331), Displaying the call stack (Page 330).
Symbol Meaning
Next step (SIMOTION Kernel as of version V4.4)
Only available for the MCC and LAD/FBD programming languages:
Click this icon to resume the program execution until the next MCC command or LAD/
FBD network is reached.
See: Resume program execution in single steps.
Step through the subprogram (SIMOTION Kernel as of version V4.4)
Only available for the MCC programming language.
Click this icon to jump to the called subprogram and stop at the first command. The
subprogram must be created in the MCC or LAD/FBD programming language.
See: Resume program execution in single steps.
Requirements:
1. The program source with the POU (e.g. ST source file, MCC chart, LAD/FBD program) is
open.
2. A connection to the target system must have been established (online mode).
3. SIMOTION SCOUT is in debug mode for the corresponding SIMOTION device; see Setting
debug mode (Page 313).
4. The tasks to be stopped are specified, see Specifying the debug task group (Page 314).
5. Breakpoint is set, see Setting breakpoints (Page 318).
Procedure
To define the call path for a single breakpoint, proceed as follows:
1. Select the code location where a breakpoint has already been set:
– SIMOTION ST: Set the cursor in an appropriate line of the ST source.
– SIMOTION MCC: Select an appropriate command in the MCC chart.
– SIMOTION LAD/FBD: Set the cursor in an appropriate network of the LAD/FBD program.
2. Click the button for "edit call path" in the Breakpoints toolbar.
In the Call path / task selection breakpoint window, the marked code position is displayed
(with the name of the program source, line number, name of the POU).
3. Select the task in which the user program (i.e. all tasks in the debug task group) will be
stopped when the selected breakpoint is reached.
The following are available:
– All calling locations starting at this call level
The user program will always be started when the activated breakpoint in any task of
the debug task group is reached.
– The individual tasks from which the selected breakpoint can be reached.
The user program will be stopped only when the breakpoint in the selected task is
reached. The task must be in the debug task group.
The specification of a call path is possible.
4. Only for functions and function blocks: Select the call path, i.e. the code position to be called
(in the calling POU).
The following are available:
– All calling locations starting at this call level
No call path is specified. The user program is always stopped at the activated breakpoint
if the POU in the selected tasks is called.
– Only when a single task is selected: The code positions to be called within the selected
task (with the name of the program source, line number, name of the POU).
The call path is specified. The user program will be stopped at the activated breakpoint
only when the POU is called from the selected code position.
If the POU of the selected calling code position is also called from other code positions,
further lines are displayed successively in which you proceed similarly.
5. If the breakpoint is only to be activated after the code position has been reached several
times, select the number of times.
Note
You can also define the call path to the individual breakpoints in the debug table:
1. Click the button for "debug table" in the Breakpoints toolbar.
The "Debug table" window opens.
2. Click the appropriate button in the "Call path" column.
3. Proceed in the same way as described above:
– Specify the task.
– Define the call path (only for functions and function blocks).
– Specify the number of passes after which the breakpoint is to be activated.
Proceed as follows:
● Activate the breakpoints, see Activating breakpoints (Page 327).
Note
You can use the "Display call stack (Page 330)" function to view the call path at a current
breakpoint and the code positions at which the other tasks of the debug task group were
stopped.
See also
Defining the call path for all breakpoints (Page 324)
Field Description
Selected CPU The selected SIMOTION device is displayed.
Calling task Select the task in which the user program (i.e. all tasks in the debug
task group) will be stopped when the selected breakpoint is reached.
The following are available:
● All calling locations starting at this call level
The user program will always be started when the activated
breakpoint in any task of the debug task group is reached.
● The individual tasks from which the POU with the selected
breakpoint can be reached.
The user program will be stopped only when the breakpoint in the
selected task is reached. The task must be in the debug task group.
The specification of a call path is possible.
Current code position The code position is shown with the set breakpoint (with the name of
the program source file, line number, name of the POU).
Field Description
Is called by Only for functions and function blocks:
Select the call path, i.e. the code position to be called (in the calling
POU).
The following are available:
● All calling locations starting at this call level
No call path is specified. The user program will always be stopped
at the activated breakpoint when the POU in the tasks is reached.
● Only when a single task is selected: The code positions to be
called within the selected task (with the name of the program
source, line number, name of the POU).
The call path is specified. The user program will be stopped at the
activated breakpoint only when the POU is called from the
selected code position.
If the POU of the selected calling code position is also called from
other code positions, further lines are displayed successively in
which you proceed similarly.
The breakpoint will be If you do not want the breakpoint to be activated until the code position
activated at each nth pass. has been reached a certain number of times, set this number.
Note
You can only make changes to the debug task group if no breakpoints are active.
Requirements
1. The program source with the POU (e.g. ST source file, MCC chart, LAD/FBD program) is
open.
2. A connection to the target system must have been established (online mode).
3. SIMOTION SCOUT is in debug mode for the corresponding SIMOTION device; see Setting
debug mode (Page 313).
4. The tasks to be stopped are specified, see Specifying the debug task group (Page 314).
Procedure
To define the call path for all future breakpoints of a POU, proceed as follows:
1. Select the code location where no breakpoint has been set:
– SIMOTION ST: Set the cursor in an appropriate line of the ST source.
– SIMOTION MCC: Select an appropriate command in the MCC chart.
– SIMOTION LAD/FBD: Set the cursor in an appropriate network of the LAD/FBD program.
2. Click the button for "edit call path" in the Breakpoints toolbar.
In the "Call path / task selection all breakpoints for each POU" window, the marked code
position is displayed (with the name of the program source, line number, name of the POU).
3. Select the task in which the user program (i.e. all tasks in the debug task group) will be
stopped when a breakpoint in this POU is reached.
The following are available:
– All calling locations starting at this call level
The user program will always be started when an activated breakpoint of the POU in
any task of the debug task group is reached.
– The individual tasks from which the selected breakpoint can be reached.
The user program will be stopped only when a breakpoint in the selected task is reached.
The task must be in the debug task group.
The specification of a call path is possible.
4. Only for functions and function blocks: Select the call path, i.e. the code position to be called
(in the calling POU).
The following are available:
– All calling locations starting at this call level
No call path is specified. The user program is always stopped at an activated breakpoint
when the POU in the selected tasks is called.
– Only when a single task is selected: The code positions to be called within the selected
task (with the name of the program source, line number, name of the POU).
The call path is specified. The user program will be stopped at an activated breakpoint
only when the POU is called from the selected code position.
If the selected calling code position is in turn called by other code positions, further lines
are displayed successively in which you proceed similarly.
5. If a breakpoint is only to be activated after the code position has been reached several
times, select the number of times.
6. If you want to accept and compare this call path for all previously set breakpoints in this
POU:
– Click Accept.
Proceed as follows:
● Activate the breakpoints, see Activating breakpoints (Page 327).
Note
You can use the "Display call stack (Page 330)" function to view the call path at a current
breakpoint and the code positions at which the other tasks of the debug task group were
stopped.
See also
Defining the call path for a single breakpoint (Page 321)
7.2.8.11 Call path / task selection parameters of all breakpoints per POU
Here you can define a presetting for the call path of all future breakpoints to be set in a POU.
Moreover, you can also accept this setting for all previously set breakpoints of this POU.
Table 7-16 Call path / task selection parameter description of all breakpoints per POU
Field Description
Selected CPU The selected SIMOTION device is displayed.
Calling task Select the task in which the user program (i.e. all tasks in the debug
task group) will be stopped when a breakpoint in this POU is reached.
The following are available:
● All calling locations starting at this call level
The user program will always be started when an activated
breakpoint of the POU in any task of the debug task group is
reached.
● The individual tasks from which the selected breakpoint can be
reached.
The user program will be stopped only when an activated
breakpoint in the selected task is reached. The task must be in the
debug task group.
The specification of a call path is possible.
Current POU The POU in which the cursor is located is displayed (with the name
of the program source file, name of the POU).
Field Description
Is called by Only for functions and function blocks:
Select the call path, i.e. the code position to be called (in the calling
POU).
The following are available:
● All calling locations starting at this call level
No call path is specified. The user program will always be stopped
at an activated breakpoint when the POU in the selected tasks is
called.
● Only when a single task is selected: The code positions to be
called within the selected task (with the name of the program
source, line number, name of the POU).
The call path is specified. The user program will be stopped at an
activated breakpoint only when the POU is called from the
selected code position.
If the POU of the selected calling code position is also called from
other code positions, further lines are displayed successively in
which you proceed similarly.
The breakpoint will be If you do not want the breakpoint to be activated until the code position
activated at each nth pass. has been reached a certain number of times, set this number.
Apply this call path to all Click the Apply button, if you want to apply the call path to all previously
previous breakpoints of this set breakpoints of the current POU. Any existing settings will be
POU overwritten.
Requirements
1. The program source with the POU (e.g. ST source file, MCC chart, LAD/FBD program) is
open.
2. A connection to the target system must have been established (online mode).
3. SIMOTION SCOUT is in debug mode for the corresponding SIMOTION device; see Setting
debug mode (Page 313).
4. The tasks to be stopped are specified, see Specifying the debug task group (Page 314).
5. Breakpoints are set, see Setting breakpoints (Page 318).
6. Call paths are defined, see Defining a call path for a single breakpoint (Page 321).
Activating breakpoints
How to activate a single breakpoint:
1. Select the code location where a breakpoint has already been set:
– SIMOTION ST: Set the cursor in an appropriate line of the ST source file.
– SIMOTION MCC: Select an appropriate command in the MCC chart.
– SIMOTION LAD/FBD: Set the cursor in an appropriate network of the LAD/FBD program.
2. Perform the following (alternatives):
– Select the Debug > Activate/deactivate breakpoint menu command (shortcut F12).
– Click the button in the Breakpoints toolbar.
To activate all breakpoints (in all program sources) of the SIMOTION device, proceed as
follows:
● Perform the following (alternatives):
– Select the Debug > Activate all breakpoints menu command.
– Click the button in the Breakpoints toolbar.
Once the first breakpoint has been activated, the SIMOTION device switches to debug mode.
It remains in this mode until the last breakpoint is deactivated.
In the Task status function bar, (Page 331) the tasks with activated breakpoints are highlighted
in gray ( ).
Note
Breakpoints of all program sources of the SIMOTION device can also be activated and
deactivated in the debug table:
1. Click the button for "debug table" in the Breakpoints toolbar.
The "Debug Table" window opens.
2. Perform the action below, depending on which breakpoints you want to activate or
deactivate:
– Single breakpoints: Check or clear the corresponding checkboxes.
– All breakpoints (in all program sources): Click the corresponding button.
The following applies up to version V4.3 of the SIMOTION Kernel:
● In the case of activated breakpoints, the "Single step" test function of the SIMOTION MCC
programming language cannot be used.
The following applies as of version V4.4 of the SIMOTION Kernel:
● The "Single step" test function of the SIMOTION MCC programming language is not
available in the Debug mode.
Breakpoints cannot be activate if the control priority is at the axis control panel. Conversely,
you cannot fetch the control priority for the axis control panel when a breakpoint activated.
Deactivate breakpoints
To deactivate a single breakpoint, proceed as follows:
1. Select the code position with the activated breakpoint.
2. Perform the following (alternatives):
– Select the Debug > Activate/deactivate breakpoint menu command (shortcut F12).
– Click the button in the Breakpoints toolbar.
To deactivate all breakpoints (in all program sources) of the SIMOTION device, proceed as
follows:
● Perform the following (alternatives):
– Select the Debug > Deactivate all breakpoints menu command.
– Click the button in the Breakpoints toolbar.
Once the last breakpoint has been deactivated, the SIMOTION device switches to "test mode";
SIMOTION SCOUT continues to run in debug mode.
Requirement
The user program is stopped at an activated breakpoint, i.e. the tasks of the debug task
group (Page 314) have been stopped.
Procedure
To call the "Display call stack" function, proceed as follows:
● Click the button for "display call stack" in the Breakpoints toolbar.
The "Breakpoint call stack" dialog opens. The current call path (including the calling task
and the number of the set passes) is displayed.
The call path cannot be changed.
To use the "Display call stack" function, proceed as follows:
1. Keep the "Breakpoint call stack" dialog open.
2. To display the code position at which the other task was stopped, proceed as follows:
– Select the appropriate task. All tasks of the debug task group can be selected.
The code position, including the call path, is displayed. If the code position is contained in
a user program, the program source with the POU (e.g. ST source file, MCC chart, LAD/
FBD program) will be opened and the code position marked.
3. How to resume program execution:
– Click the button for "resume" (Ctrl+F8 shortcut) on the Breakpoint toolbar.
When the next activated breakpoint is reached, the tasks of the debug task group will be
stopped again. The current call path, including the calling task, is displayed.
4. Click OK to close the "Breakpoint call stack" dialog box.
For names of the SIMOTION RT program sources, refer to the table in "Program run
(Page 305)".
Field Description
Selected CPU The selected SIMOTION device is displayed.
Calling task Select the task for which you want to display the code position at which
the task was stopped.
All tasks of the debug task group can be selected.
Current code position The position in the program code (e.g. line of an ST source file) at
which the selected task was stopped is displayed (with the name of
the program source file, line number, name of the POU).
is called by The code positions that call the current code position within the
selected task are shown recursively (with the name of the program
source file, line number, name of the POU, and name of the function
block instance, if applicable).
For names of the SIMOTION RT program sources, refer to the table in "Program run
(Page 305)".
Table 7-18 Meaning of background colors in the Task status function bar
Note
A selection of a task in the combo box is only possible:
● For the following test functions of the SIMOTION MCC programming language:
– Monitoring
– Single step
– Trace
● at activated breakpoints (Page 327) in the MCC or LAD/FBD programming languages.
7.2.10 Trace
Using the trace tool, you can record and store the course of variable values over time (z. B.
unit variables, local variables, system variables, I/O variables). This allows you to document
the optimization, for example, of axes.
You can set the recording time, display up to four channels, select trigger conditions,
parameterize timing adjustments, select between different curve displays and scalings, etc.
Aside from isochronous recording, you can also select Recording at code position. This lets
you record the values of variables whenever the program runs through a specific point in the
ST source file.
The trace tool is described in detail in the online help.
In this chapter, you will find overviews of the basic elements of ST and a complete compilation
of all syntax diagrams with the language elements. This appendix summarizes the basic
features of the ST language.
Syntax diagrams are used as a basis for the language description in the individual sections.
They provide you with an invaluable insight into the syntactic (i.e. grammatical) structure of
ST.
Instructions for using syntax diagrams were presented in Language description resources.
Information about the difference between formatted and unformatted rules, of interest to the
advanced user, is presented below.
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See also
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A.1.2.6 Operators
Below is a list of all ST operators and the syntactic rules in which they are used.
which they are used as terminals. An exception is standard functions, which are included only
implicitly in the syntactic rule for function calls as the standard function name.
Note
Variables must not be assigned the names of keywords or predefined identifiers. For more
information about identifiers, see Identifiers in ST. You will find an overview of the identifiers
reserved for technology objects and other reserved identifiers in Reserved identifiers.
A.1.3 Rules
The following syntax rules of the ST language are subdivided into rules with formatted notation
(lexical rules) and unformatted notation (syntactic rules). Language description resources
describes the differences between syntactic and lexical rules.
A.1.3.1 Identifiers
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comments.
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This section provides an overview of the compiler error messages and their correction.
Error Description
1000 A read/write error has occurred on file access.
1001 Unable to load the file with the plain text error messages; cannot output error message texts. Please
refer to the online help using the error number!
1002 The created code could not be stored. Please close some windows and recompile!
1003 A read/write error has occurred on opening the file. Please close the application and try again!
1100 The option for stating a preprocessor definition contains an invalid identifier as the defined token.
The correct syntax of the call option is: -D identifier[=[text]]
Examples:
● -D myident // Definition of myident; this can be queried using #ifdef.
● -D myident= // myident is defined as empty character string
● -D "myident=This is a text" // myident is defined as character string 'This is a text'. The quotation
marks only have to be used if the replacement text contains a blank.
Error Description
2001 The specified character is illegal.
2002 The specified identifier contains illegal characters or combinations of characters. According to
IEC 61131, an identifier must start with a letter or an underscore. Any number of letters, digits, or
underscores may follow, but no more than one underscore in a row.
Error Description
3002 Keyword "IMPLEMENTATION" to identify the code section of the load unit is expected.
3003 The specified declaration block is not permitted in this context.
3004 The VAR, VAR_INPUT, VAR_OUTPUT, VAR_IN_OUT, VAR CONSTANT variable declaration
blocks are permitted just once for each POU.
3005 TASK statement: The task link has already been made in the source file for the specified task.
Further task linking not possible.
3006 Incorrect stack size for task specified. Only positive integers are permitted.
3007 The specified identifier must be a task identifier; see task configuration.
3008 The specified identifier must be a program identifier. The declaration is made in the statement
PROGRAM xx … END_PROGRAM.
3009 The EXPRESSION keyword must be followed by an identifier. The declaration is made in the
statement EXPRESSION xx … END_EXPRESSION.
3010 The specified identifier is not an EXPRESSION identifier. Check whether the declaration was made
using the statement EXPRESSION xx … END_EXPRESSION.
3011 The TASK statement is not permitted in the unit. Use the task configuration in the Workbench.
3012 The specified identifier has already been declared at another position. It cannot be used again as
a function identifier.
3013 The specified identifier has already been declared at another position. It cannot be used again as
a function block identifier.
3014 The UNIT statement is expected. The following forms are permissible:
● UNIT myunit;
● UNIT myunit : dvtype;
The UNIT statement is only required when compiling at the ASCII file level. It is optional when the
compiler is called from the Workbench.
3015 The source file is not ended with END_IMPLEMENTATION. Observe the structure for a source file!
3016 No further statements may be specified after keyword END_IMPLEMENTATION.
3017 The task declaration is not ended with END_TASK. Observe the structure for a source file!
3018 The POU declaration is not ended with END_FUNCTION, END_FUNCTION_BLOCK, or
END_PROGRAM. Observe the structure for a source file!
3019 A POU starting with keywords FUNCTION, FUNCTION_BLOCK, or PROGRAM is expected.
3020 The task linking statement is expected. Configuration: TASK tname … END_TASK;
3022 The keyword INTERFACE is expected. See the structure for a source file.
3023 Keyword INTERFACE or IMPLEMENTATION is expected. See the structure for a source file.
3024 Syntax error in TASK statement. Correct structure: TASK tname … END_TASK;
3025 The specified identifier has already been declared at another position. It cannot be used again as
a program identifier.
3026 The WAITFORCONDITION statement cannot be used recursively. An attempt was made to use a
WAITFORCONDITION statement a second time within a WAITFORCONDITION statement. This
is not possible.
3027 An attempt was made to insert a WAITFORCONDITION statement within an
EXPRESSION … END_EXPRESSION block. This is not possible. The WAITFORCONDITION
statement cannot be used within an expression.
Table A-12 Declaration errors in data type declarations (4001 ... 4105)
Error Description
4001 The specified identifier is a standard function identifier that cannot be overwritten. Choose a different
identifier.
4002 The specified identifier has already been used. Use as a type identifier is not possible. Choose a
different identifier.
4003 The specified identifier has already been used. Use as a constant identifier is not possible. Choose
a different identifier.
4004 The specified initialization value has an incorrect format. Choose the initialization value that
corresponds to the data type declaration.
4005 Syntax error in type declaration.
4006 Syntax error in the structure element specification in the structure declaration.
4007 Syntax error in declaration of an ARRAY data type.
4008 Syntax error in the identifier list specification. The identifiers must be separated by commas.
4009 The specified constant identifier has been assigned different values. This occurs when enumeration
data types are declared. Identical enumeration elements in different enumeration data types must
be located in the same position in the type declaration.
4010 The specified type identifier is not exported from the source file, although the POU in which it is
used, is exported. Use a different data type or declare the data type in the implementation section.
4011 A constant declaration requires the specification of an initialization value. Example: x : DINT := 5;
4012 The specified data type must be declared outside the POU. For VAR_INPUT, VAR_OUTPUT, and
VAR_IN_OUT, the type identifiers must not be declared locally in the POU, as they must also be
known outside the POU for parameter transfer purposes.
4013 The specified value is used several times in the enumeration data type. The values in the
enumeration data type must differ, however.
4020 The specified identifier has already been used as a data type identifier. However, the definition
differs from the current definition. This is not permitted.
Either choose a different identifier or adapt the type definitions. If this message appears on loading
libraries or technology packages, you can use namespaces here too (e.g. USELIB mylib AS
Namespace_1).
4050 The data type or variable declaration creates a data type that is larger than the specified maximum
permissible data size.
4051 The variable declaration requires a memory area that is larger than the specified maximum
permissible memory size.
4100 The definition of the structure component requires the specification of a user-defined offsets. If
offsets are explicitly specified in a structure definition, the offset specification is necessary for all
structure components. Furthermore, the OVERLAP keyword requires the explicit specification of
the offsets.
4101 The offset specification indicated when defining the structure component is not allowed because a
component without an explicit offset specification has already been defined. If offsets are explicitly
specified in a structure definition, the offset specification is necessary for all structure components.
4102 The offset value specified in the definition of the structure component is not allowed. The value
must be a multiple of the number specified in the error message, so that the data elements are in
the correct alignment.
Error Description
4103 The offset values specified in the structure definition lead to overlaps in the memory layout. This
is only allowed for identification of the structure as OVERLAP.
4105 The overlaps in the memory space are not allowed for the following data types: STRING,
ANYOBJECT and all TO-references derived thereof!
Error Description
5001 The specified constant value causes the value range to be exceeded and cannot be converted to
the requested type.
5002 The specified identifier has already been used. Use as a variable identifier is not possible. Choose
a different identifier.
5003 Syntax error in variable declaration.
5004 The specification of a data type is expected (simple or derived data type).
5005 The specified constant value has the wrong data type or causes the value range to be exceeded.
5006 Check the number of initialization values for array initialization.
5007 Syntax error in the specification of the time and date literals.
5008 A function block instance cannot be created at the specified position. For example, FB instances
cannot be created in functions. In addition, output parameters (VAR_OUTPUT) of function blocks
cannot be FB instances.
5009 The data type specified in the declaration cannot be applied to the variable with absolute address.
An integer or bit data type with matching bit width must be used.
5010 An attempt was made to assign a memory address to a variable. This is not possible at the specified
position. Use this assignment only within the VAR_GLOBAL declaration of a unit or within the VAR
declaration of a PROGRAM.
5012 The specified variables cannot be preassigned an initialization value.
5014 Incorrect initialization of a data structure. The initialization value for a component was specified
more than once.
5016 The initialization of variables and data types with technology objects defined in the project is not
possible. Technology objects are themselves variables and so cannot be used for the initialization.
5100 The specified variables cannot be preassigned an initialization value.
5110 Special characters can be specified via $... in the following way: $$, $', $L, $N, $P, $R, $T. Moreover,
the numeric value of a character can be specified via $xx, whereby xx stands for the two-digit
hexadecimal specification of the character code.
5111 The special character can only be specified via $... . This affects $L, $N, $P, $R, $T
5112 Multi-line character string constants are not permitted. To produce a new line in the output, use the
appropriate special character in the character string, e.g. $N, $R$L.
5200 The data type definition contains a recursion, either directly or indirectly. This is not permitted. Do
not use this data type at the position concerned.
5201 The function call creates a recursion, either directly or indirectly. This is not permitted. Do not call
the function at the position concerned.
5500 The specified jump label identifier was already defined. Choose a different name.
Error Description
5501 The specified jump label identifier has not been defined. Include this identifier in the LABEL
declaration.
5502 The jump label identifier has been assigned more than once. However, each jump label can only
be used once as a label.
5503 The jump label is specified as a jump destination, but the associated label is missing.
5504 No jumps are possible in subordinate control structures (e.g. WHILE loops). The specified jump
label cannot be used at this position.
5505 No jumps are possible in subordinate control structures (e.g. WHILE loops). The specified jump
destination cannot be reached.
5506 No jumps are possible in WAITFORCONDITION blocks. The specified jump label cannot be used
at this position.
5507 No jumps are possible in WAITFORCONDITION blocks. The specified jump destination cannot be
reached.
5509 Jump labels cannot be used within a CASE statement. The syntax does not allow any differentiation
between a jump label and the value list of the CASE statement.
Error Description
6001 Syntax error: A statement terminated with a semicolon is expected, e.g. a := b*c;
6002 Syntax error: An expression is expected, e.g. x < y .
6003 The specified identifier is no variable identifier. You must specify a variable identifier. Check whether
the indicated identifier is covered.
Up to and including V4.0, access to global device identifiers was possible within a program or
function block of the same name despite warning 16021.
6004 The index for array access must be the DINT data type. Perform a suitable type conversion or use
another expression.
6005 Type conflict in the expression. One of the operands cannot be converted to the data type of the
calculation, or the result assignment produces a type conflict.
6006 The specified variable cannot be accessed. Therefore it cannot be used in the expression. Possible
causes:
● Variable cannot be read.
● Attempt to access a local variable of a function or function block from outside.
6007 Cannot write specified variable. A value assignment is not possible.
6008 The specified function does not supply a return value. An application in the expression is therefore
not possible (function declared with a return value of VOID).
6009 The specified identifier does not refer to a function or a function block instance. Therefore it cannot
be used as function identifier.
When calling a program, the compiler option "Allow language extensions" should have been set (-
C lang_ext).
6010 The specified identifier is not included as an input parameter (VAR_INPUT) or in/out parameter
(VAR_IN_OUT) in the declaration of the POU (function or function block). It cannot be used in the
POU call.
Error Description
6011 The number of function arguments in the call differs from the declaration, or the call parameters
required are missing in the call.
6012 RETURN is not permitted syntactically at this position. RETURN may only be used in functions.
6013 EXIT is not permitted syntactically at this position. EXIT can only be used within FOR, WHILE, and
REPEAT.
6014 The specified index value is outside the array limits. Only index values that match the array
declaration are permissible.
6015 The specified task control command cannot be applied to the task. It is not allowed for this type of
task.
6016 The specified task is deactivated in the execution system. It must be enabled before it can be used.
6017 Syntax error on specifying programs within a task. The programs must be listed by name and
separated by commas.
6018 The specified identifier does not refer to a PROGRAM. Therefore it cannot be used as a program
identifier.
6019 Multiple assignment of program to task. Only one assignment is possible.
6020 Syntax error on specifying directly displayed variables. Inputs must have the syntax %Ix.y and
outputs the syntax %Qx.y.
6021 The specified byte offset of the directly displayed variables lies outside the permissible address
space.
6022 The specified byte offset of the directly displayed variables lies outside the permissible address
space. Values 0 to 7 are permissible.
6023 The return value of the function was not assigned. An assignment is however imperative.
6024 A variable with the specified identifier is not included in the task start information.
6025 The condition variable and condition values of a CASE statement must be of the data type SINT,
INT, DINT, USINT, UINT or UDINT. It must be possible to implicitly convert the condition values to
the data type of the condition variables.
6026 The specified message identifier is not contained in the message configuration. Switch to the
message configuration and add the identifier.
6027 System variable access is only possible directly by means of a technology object reference. Access
by means of a structure or array is not possible. Create a local variable of type TO and assign the
TO reference to this variable. You can then access the required system variable by means of this
local TO variable.
6028 Type conflict in expression at specified operation. One of the operands cannot be converted to the
data type of the calculation, or the result assignment produces a type conflict. The specified data
type in the expression is expected.
6029 The specified function parameter does not have a default value, so it is imperative to specify a value
when the function is called.
6030 An attempt was made to transfer an expression to an in/out parameter (VAR_IN_OUT). This is not
possible. User variables must be specified as in/out parameters.
6031 An attempt was made to transfer a system variable (TO, I/O direct access) to an in/out parameter
(VAR_IN_OUT). This is not possible. User variables must be specified as in/out parameters.
6032 An attempt was made to transfer a variable in the process image to an in/out parameter
(VAR_IN_OUT). This is not possible. User variables must be specified as in/out parameters.
6033 An attempt was made to transfer a variable with a non-matching data type to an in/out parameter
(VAR_IN_OUT). However, an Implicit type conversion is not possible. User variables with the correct
data type must be specified as in/out parameters.
Error Description
6034 An attempt was made to transfer a read only variable to an in/out parameter (VAR_IN_OUT). This
is not possible. In/out parameters must be read/write.
6035 An attempt was made to transfer a constant to an in/out parameter (VAR_IN_OUT). This is not
possible. In/out parameters must be user variables.
6036 An operation is applied to a constant. The value of the constant is outside the definition range for
the function. Examples are:
● Application of SQRT to a negative number.
● Use of logarithmic functions on a number <= 0.
● Use of ASIN or ACOS on a number outside the interval [0..1]
6037 An attempt was made to divide a constant by zero. This operation is not permitted.
6038 The specified function parameter occurs more than once in the argument list.
6039 The specified POU (function or function block) cannot be used. Possible causes:
● The definition of the POU in the implementation section is missing. Only the prototype was
specified in the interface section.
● The POU is fully defined only after its use (e.g. call, instance declaration). If necessary, move
this POU in the program source before the POU in which it is used.
● An instance of the function block cannot be declared as unit variable in the same program source
in which this function block is defined.
6040 Only simple variables may be used as semaphores; indexing is not possible.
6041 The message function requires an auxiliary value of the specified data type. Type conversion is not
possible.
6042 The message function requires that you specify a message number. The specified message number
is invalid.
6050 Type conflict in expression at specified operation/variable. One of the operands cannot be
converted to the type of the calculation, or the result assignment produces a type conflict. A
conversion between source file type and target type is not possible.
6051 The expression contains a type conflict for the specified operation. One of the operands cannot be
converted to the data type of the other operand to perform the calculation, or the operand data
types are not permitted for this operation.
6052 Type conflict in the expression. The specified data type cannot be used for the operation (see
marshalling functions).
6053 The expression contains a type conflict for the specified operation. This operation is not permissible
on the specified data type.
6054 Type conflict in the expression. The specified variable cannot be used as indexed array variable.
6060 At the function call, there is a mixture of assignments of function arguments and setting parameters.
Use one form of the function call. Example:
● f (x, y); or
● f (in1 := x, in2 := y);
6061 The specified parameter of the function or the function block is an in/out parameter. Consequently,
a variable must be assigned when the POU is called.
6062 The specified identifier cannot be used as a function argument. Only variables from the declaration
blocks VAR_INPUT and VAR_IN_OUT are permitted.
6063 The specified identifier cannot be used as a function argument. Only variables from the declaration
blocks VAR_INPUT and VAR_IN_OUT are permitted.
6064 The specified POU is a prototype, for which there is no implementation. Therefore, calling is not
possible.
Error Description
6070 Access to configuration data is only possible for variables that have been specified completely.
Append the name according to the configuration data for the selected technology object.
6071 Access to configuration data is only possible for variables that have been specified completely.
Therefore, array indices, which cannot be resolved until runtime, may not be used.
6080 The specified variable is no input or output variable that can be directly accessed. Such a variable
must be declared in the I/O container of the respective device; it must have the syntax PI* or PQ*.
6100 The specified construct can only be compiled if the device type is set. Add the device type to the
unit statement or set the device type in the program container.
6110 The specified construct cannot be used in libraries.
6111 The specified construct cannot be used in libraries.
6112 The specified construct cannot be used in libraries.
6113 Access to technology objects and devices is not allowed in libraries.
6114 A function block from a different source of the same library has been used. This is only possible
within a library if the declaring source is compiled with the "Permit forward declarations" compiler
setting activated.
6130 The specification of an interval is not permissible for the data type indicated in the CASE statement.
6140 The specification of a constant in ENUM_TO_DINT requires specifying the data type in the form of
enum_type#value.
6150 The specified bit offset lies outside the valid range for the specified data type.
6160 The specified array data type without a defined length is only permitted when VAR_IN_OUT
parameters are declared in functions and function blocks.
6161 The direct assignment between arrays without length specification is not possible. You need to
iterate over the elements for the assignment.
6170 The specified identifier is no variable identifier. You must specify a variable identifier. It should be
noted that local variables of a POU are not usable in an independent EXPRESSION (condition).
6180 The specified function is not usable for variables that contain structures with overlapping memory
spaces (OVERLAP).
6200 Only with compiler option "Permit language extensions" (-C lang_ext):
The called PROGRAM contains instance data (VAR … END_VAR declaration block) stored in the
user memory of the assigned task. This means a call of the PROGRAM from another POU is not
possible. Compile the source file with the "Create program instance data only once" compiler option
(-C prog_once) or remove the instance data.
6201 Only with compiler option "Permit language extensions" (-C lang_ext):
The call of a PROGRAM is not supported in functions. Such calls can be made only in function
blocks or another PROGRAM.
6300 Only when specifying Pragma "ToHookApplicable = YES": The call to the specified POE is not
possible since this POU is not marked as ToHookApplicable. Only the other functions suitable for
this can be used in hook functions.
6301 Only when specifying Pragma "ToHookApplicable = YES": The access to the specified variable is
not possible while compiling for use in TO hooks. In TO hooks, the following variables cannot be
accessed:
● Variables of technology objects
● I/O variables
● Global device variables
Table A-15 Syntax errors, errors in the expression (7000 ... 7014)
Error Description
7000 A syntax error has occurred. Possible causes:
● Incorrectly ended control structures (e.g. END_IF missing)
● Statements not terminated with ;
● Missing brackets
7001 The specified identifier does not refer to a constant. Please enter one constant per value or identifier.
7002 A signed integer is expected. The integer can be of data type SINT, INT, or DINT.
7003 When specifying the interval, the initial value must be less than or equal to the end value. This
applies to the declaration of arrays and the specification of the interval in CASE selection conditions.
7004 An initialization value is expected. The value must be a constant. Constants can be assigned as
follows:
● Directly per value
● Symbolically via a preceding constant declaration
● As an expression containing constants only
7005 If identical data types are to be initialized in different sources, this requires an identical initialization
value too. Adapt the initialization values.
7009 An expression that supplies data type BOOL is expected as condition for WHILE, REPEAT, and
IF. This can be specified as a variable of data type BOOL or via a comparison expression. You
can also specify a function with a return value of data type BOOL.
7010 A syntax error has occurred. Possible causes:
● Incorrectly terminated control structures (e.g. END_IF missing)
● Statements not terminated with ;
● Missing brackets
7011 A syntax error has occurred. Possible causes:
● Incorrectly terminated control structures (e.g. END_IF missing)
● Statements not terminated with ;
● Missing brackets
7012 A syntax error in the statement, that starts at the specified line, has occurred. Possible causes:
● Incorrectly terminated control structures (e.g. END_IF missing)
● Statements not terminated with ;
● Missing brackets
7013 A syntax error has occurred. An illegal construct is being used.
7014 A syntax error has occurred. Possible causes:
● Incorrectly terminated control structures (e.g. END_IF missing)
● Statements not terminated with ;
● Missing brackets
Error Description
8001 The specified POU has been exported to the INTERFACE section, but an IMPLEMENTATION
section is missing. Either delete the export statement or specify a valid implementation.
8100 The maximum size of the data area that can be reached using HMI is 65536 bytes. This limit has
been exceeded with the specified variable. All subsequent variables cannot be reached either.
A.2.9 Errors while loading the interface of another UNIT or a technology package (10000 ...
10101)
Table A-17 Errors while loading the interface of another UNIT or a technology package (10000 ... 10101)
Error Description
10000 The specified unit has an invalid file format. Probably, the unit was created using an older version
of the compiler or compiled using incompatible options. If a unit is involved, it should compiled first.
Then repeat the current compilation. If a package is involved, a newer version should be installed.
10001 The unit name has an invalid format. The rules for identifiers in ST are also true for unit names; the
following restrictions apply to their length:
● Up to Version V4.0 of the SIMOTION Kernel: 8 characters.
● As of Version V4.1 of the SIMOTION Kernel: 128 characters.
10002 Error while loading the interface of another UNIT, a library or technology package. The specified
identifier is contained in two different imported units, libraries or technology packages.
● Remove a unit, library or technology package from the import list or
● Establish uniqueness between the identifiers in imported units, libraries or technology packages.
Change the exporting units in the interface section or specify a namespace for a library or a
technology package (USELIB … AS namespace; USEPACKAGE … AS namespace; ).
10003 The specified data type has an invalid memory layout. Probably, the unit was created using an older
version of the compiler or compiled using incompatible options. If a unit is involved, it should
compiled first. Then repeat the current compilation. You can also perform "Save and recompile
everything".
If a package is involved, a newer version should be installed.
If the error persists, inform the support department.
10004 The exported identifiers of the specified unit could not be loaded. Close some applications and try
again.
10005 A recursion was detected on loading packages. The specified package has already been loaded
with USEPACKAGE and cannot be specified a second time.
10006 A recursion was detected on loading the unit. The specified unit has already been loaded with USES
and cannot be specified a second time.
10007 The maximum number of imported units which can be referenced in a unit was exceeded. A
maximum of 223 imported units per load unit are permissible. Both units imported directly with
USES and indirectly imported units are counted.
10008 The number of imported packages that can be referenced in a unit has been exceeded. A maximum
of 127 imported packages per load unit are permissible.
Error Description
10009 The specified package is used in the unit, but it is not available on the device. This error message
occurs when you compile with the "implicit package utilization" option and have programmed a
USEPACKAGE statement that has a different content than the packages specified on the device.
10010 The specified package is used in Unit a but not in Unit b. This error message occurs when different
packages have been specified with USEPACKAGE in units that reference each other with USES.
Correct the USEPACKAGE statements.
10011 The specified unit is used directly or indirectly by itself via one or more units. Correct the USES
statements.
10012 The specified unit is imported directly or indirectly into several units in different compilation versions.
Recompile all units that reference the specified unit in the USES statement.
10013 The specified unit has not yet been compiled, or an error occurred during the last compilation.
Compile this unit first to ensure successful compilation.
10014 The type of specified technology object (TO) is not supported by the package specified previously
during compilation with USEPACKAGE. Use a package that contains the TO type.
10015 The maximum number of technology objects (TO) which can be referenced in a unit was exceeded.
A maximum of 65535 TOs can be referenced.
10016 The device type parameter is not available. If the unit to be compiled is not to be assigned to a
device, use the statement UNIT xx : dvtype;
10017 The device type has not been specified uniquely. In the unit, the statement UNIT xx : dvtype;
specifies a different device type than the one determined via the assignment of the unit to the device.
10018 The specified unit could not be found. Check whether the unit name is available in the PROGRAM
container of Workbench or whether the specified file is contained in the current working directory
(only u7bt00ax - command line).
10019 The specified technology package could not be found. Observe the preceding error outputs.
10020 Error occurred while loading the technology package. Observe further error outputs.
10021 The technology package is used in the specified source file, however, it is not selected on the
device. Correct the USEPACKAGE statement, or select the technology package on the device.
10022 The specified technology package is being used with different versions. Correct the settings for the
technology package selection on the device and, if required, in the library. Only one version of a
technology package can be used on a device.
10024 The specified technology package does not contain any components which can be used in the
programming environment. Therefore, it cannot be used in the USEPACKAGE statement either.
10025 The specified identifier is not an identifier for a valid or an installed technology package. Therefore,
it cannot be used in the USEPACKAGE statement either.
10026 The technology package is used in the specified source file; however, it is not selected for the
current device type on the library. Correct the USEPACKAGE statement in the source, or select
the technology package for the device types.
10030 The device type has not been specified uniquely. In the unit, the statement UNIT xx : dvtype;
specifies a different device type than the one determined via the assignment of the unit to the library
container.
10031 The specified library is used directly or indirectly by itself via one or more libraries. Correct the
USELIB statements.
10032 The specified library could not be found. Check your project.
10033 A recursion was detected on loading the library. The specified library has already been loaded with
USELIB and cannot be specified a second time.
Error Description
10034 The specified library is not completely compiled. Possible causes:
● The library has not yet been compiled.
● The library has not been compiled for all device types specified for the library container (e.g. in
project-wide compilation).
● An error occurred in the last compilation.
First compile this library individually (accept and compile).
10035 The specified library could not be found. Check whether the library name is available in the
Workbench project or whether the specified file is contained in the current working directory (only
u7bt00ax command line).
10036 The specified package is used in the source file, but it is not available in the library. Libraries are
generally compiled against the package versions specified in the library container. You have
programmed a USEPACKAGE statement that has a different content than the packages specified
in the library. Either select the correct package version or remove the USEPACKAGE statement
from the source file.
10037 The code variant for the current device type is not selected for the specified library. This means this
library cannot be used. Activate the code variant for this library.
10038 A DCC library can only be used in the DCC. It is not permissible to integrate such a library into
different programming languages.
10039 Compiling a library requires access to the sources. Access to the specified source is not possible
due to the selected protection level of the know-how protection. You have to log in for compiling.
10100 The specified type of a technology object is contained in several packages that were referenced
by the source file. Please choose the technology package that meets your requirements.
10101 The specified technology object is not compatible with the types of technology objects supported
by the loaded packages Update the package or change the type of technology object.
Error Description
15001 The specified construct is not supported by the current version of the compiler.
15002 The currently selected device does not support the specified function. Select a different device
version if you want to use this function. To do so, replace the CPU in the hardware catalog and, if
necessary, update the firmware.
15003 The specified identifier is a keyword that is not supported and therefore cannot be used as user-
specific in order to ensure compatibility with later compiler versions.
15004 The specified identifier denotes a standard function that is not supported and cannot be used as
user-specific identifier in order to ensure compatibility with later compiler versions.
15005 The specified identifier denotes a non-supported standard function and cannot be used as user-
specified identifier in order to ensure compatibility with later compiler versions.
15006 The specified construct can only be used in source files generated with MCC. Usage in ST is not
possible.
15007 A source/library/package is used in the implementation section either directly or indirectly without
specifying a namespace. In the interface section, it is used with a namespace. Solve this conflict
by specifying a namespace in the interface section for the specified source/library/package.
Error Description
15008 The specified source uses the library or the technology package with different namespace
specification between the interface and implementation section. For successful compilation, the
library or the technology package must have already been homed to the interface section with
USELIB or USEPACKAGE.
15070 The specified construct does not conform to the language standard; however, for compatibility
reasons, it is supported for old platforms. Convert the usage to the specified alternative.
15152 A USES, USELIB, or USEPACKAGE statement was found in a source file section hidden by
conditional compilation. This is not permitted. Source file sections that contain these statements
cannot be complied conditionally.
15153 The specified definition is not considered during code generation. It is not possible to define
keywords differently.
15154 It is not permitted to apply a line comment and to use multi-line comments in the definition section.
15200 The specification of a bit offset for a bitstring variable requires the "Permit language extensions"
compiler option (-C lang_ext).
15700 The specified construct is not supported by the version of SIMOTION SCOUT into which conversion
is to be performed.
Error Description
16001 (Warning class: 0)
Only in conjunction with the "Selective Linking" compiler option. The specified function, the function
block, or the program are neither exported nor called in the current unit. No code is generated.
16002 (Warning class: 0)
Only in conjunction with the "Selective Linking" compiler option. The specified unit does not contain
any exported PROGRAM nor any task link. No code is generated for the unit.
16003 (Warning class: 2)
The operands of the comparison operation do not contain any explicit type definition. The data type
listed in the comparison can be seen in the warning message issued. Specify the data type of the
used constants explicitly with <type>#<value>.
Error Description
16004 (Warning class: 2)
The specified type conversion may cause the variable value to change due to the reduced display
width or inadequate accuracy of the target data type.
16005 (Warning class: 2)
During type conversion, the dependency of the variable value can cause the sign to change.
16006 (Warning class: 2)
The specified value will be rounded to the next displayable value due to insufficient display width.
16007 (Warning class: 2)
A loss of accuracy occurred during type conversion. Not all decimal places are considered.
16008 (Warning class: 2)
A loss of accuracy occurred during initialization of the specified variables. The constant will be
converted to the specified data type. Not all decimal places are considered.
16009 (Warning class: 0)
Only in connection with compiler option Selective Linking. The specified unit does not contain any
exported PROGRAMs or any task linking. Unable to access unit code. Unable to call relevant POU.
16010 (Warning class: 0)
Specified program not exported to unit; therefore unable to use it in configuration of the execution
level.
16011 (Warning class: 0)
The source file does not contain any exported global variables. No data is loaded to the target
system.
16012 (Warning class: 0)
The specified source file name was taken over from the PROGRAMS container of the selected
device. The identifier of the source file in the UNIT statement was ignored.
16013 (Warning class: 2)
Because of the marshalling function, the specified data type is not portably convertible. Only use
SIMOTION devices in connection with this data type, or perform an explicit conversion of the data
type.
16014 (Warning class: 2)
With the specified operation, a data type conversion is performed between signed and unsigned.
Because the bit string is adopted in this case, the resulting numerical value can differ from the
specified value.
16015 (Warning class: 2)
For the assignment of the character string constants to the variables, only part of the character
string constants is transferred, because the length of the variable is insufficient to accept all
characters.
16016 (Warning class: 2)
The operands in the expression do not contain any explicit type definition. The data type of the
operation is determined by specifying the values. The resulting data type in which the expression
is calculated can be seen in the issued warning message. To define the data type:
● Specify the data type of the used constants explicitly with <type>#<value> or
● Use an explicit data type conversion.
Error Description
16017 (Warning class: 2)
The operands in the expression contain only constants. The data type of the operation can be
determined by specifying the data type (in the form <type>#<value>) or explicit data type conversion.
This output is used for finding problems, in particular, for the use of symbolic constants, because
the data type of the operation cannot normally be determined easily.
16018 (Warning class: 2)
The data type of the comparison operation is defined using the value of a constant that has a larger
value range than the contained variable. The comparison is performed with the data type of the
constant.
16020 (Warning class: 1)
The declaration hides the specified identifier which has been globally defined in its own source file
or an imported source file. Access to the global identifier is no longer possible from the POU where
this identifier is declared locally.
16021 (Warning class: 1)
The declaration hides the specified identifier which is defined on the device. You can access the
global device identifier with _device.<name>.
16022 (Warning class: 1)
The declaration hides the specified identifier which is defined in the project (e.g. technology object
or device). You can access the global project identifier with _project.<name>.
16023 (Warning class: 1)
The declaration hides the specified identifier for the data type of a technology object. Access to the
data type identifier is no longer possible.
16024 (Warning class: 1)
The declaration hides the access to the technology object on the device. You can access this TO
with _to.<name>.
16025 (Warning class: 1)
The declaration hides the IEC standard function with the identical name. Access to this function is
no longer possible in the current context.
16026 (Warning class: 1)
The specified identifier is reserved by SIEMENS for potential extensions. The use of this identifier
can cause compiler errors in later versions. If you want to avoid this, change this identifier.
16027 (Warning class: 1)
The specified identifier which is reserved for access to I/O qualities, is already assigned on the
device. This means that I/O qualities cannot be accessed.
16030 (Warning class: 1)
A label has been specified several times in a CASE statement. Only the first label is ever evaluated.
Other specifications have no effect.
16102 (Warning class: 3)
The option for output of code for the program status diagnosis function is ignored because no debug
information was generated. Output of debug information was deactivated via compiler options.
16103 (Warning class: 3)
The option for outputting code at the library for the program status diagnosis function is ignored.
The code for program status is generated as defined in the option in the individual source files.
16110 (Warning class: 3)
The specified pragma statement is not supported in the current version.
Error Description
16111 (Warning class: 3)
The specified pragma statement is not supported in the used context. The position of the pragma
in the source text is not correct.
16112 (Warning class: 3)
A valid pragma has been used. However, the value specified for the pragma is not valid. Use a
valid value.
16113 (Warning class: 3)
The pragma contains a syntax error in an attribute declaration. The valid syntax is as follows:
<attribute ID> := <attribute value>;
16150 (Warning class: 7)
A new definition has been made for the specified identifier. Consequently, the previous definition
is invalid.
This warning enables the work of the preprocessor to be tracked.
16151 (Warning class: 7)
An attempt has been made to delete the definition of the specified identifier with #undef. However,
the identifier is not defined or the definition is already deleted.
This warning enables the work of the preprocessor to be tracked.
16152 (Warning class: 7)
The specified definition is not considered during code generation. This may be caused by the
preprocessor being deactivated for the compiled source.
16153 (Warning class: 7)
The preprocessor is not active in the current source, even though preprocessor statements are
used. Activate the preprocessor or remove the statements.
16154 (Warning class: 10)
The preprocessor cannot be used to control the contents of USEPACKAGE, USELIB, and USES
statements. It is no longer possible to automatically determine the dependencies between sources
for the "Save project and compile changes" and "Save project and recompile all" functions.
16170 (Warning class: 10)
The definitions from sources imported using USES are not considered during code generation.
16171 (Warning class: 10)
The definition from the specified source imported using USES could not be loaded. Compile the
specified source file beforehand.
16200 (Warning class: 4)
The use of a semaphore requires a global variable to enable access to it from a different task. Local
task operations do not have to be blocked via semaphores.
16210 (Warning class: 4)
The basis of the exponential function (EXPT standard function or ** operator) is negative. The
operation can be executed at run time only under the following conditions:
1. It can be used on a device with a version of the SIMOTION Kernel as of V4.1.
2. The exponent is an integer.
The ExecutionFaultTask will be initiated for non-integer exponents or for use on a device with a
version of the SIMOTION Kernel up to V4.0. The program will be aborted at this position.
16220 (Warning class: 4)
The condition of an IF statement, WHILE statement or REPEAT statement is a constant expression.
Error Description
16230 (Warning class: 4)
The expression with the specified values does not cause any change to the result; optimized code
will be created.
16240 (Warning class: 4)
The expression with the specified values exceeds the definition range of the operation. The result
may be incorrect.
16250 (Warning class: 4)
A modification of the control variable of a FOR loop occurs inside this loop. This modification is
either not effective or may cause an unexpected result when editing this loop. If the modification of
the variables inside the loop is necessary, then use WHILE or REPEAT at this point instead of FOR.
16300 (Warning class: 5)
The auxiliary value has a data type that cannot be converted to the data type configured for the
message.
16301 (Warning class: 5)
The specified auxiliary value is not evaluated during output of the message.
16302 (Warning class: 5)
The data type of the auxiliary value cannot be determined from the message configuration. The
specified data type is used.
16303 (Warning class: 5)
No auxiliary value has been specified for the function although the message configuration requires
such a value. A default value of the corresponding data type was added.
16304 (Warning class: 5)
An alarm accompanying value is specified using a constant or a constant expression. The resulting
data type of the alarm accompanying value can be seen in the issued warning message. To define
the data type:
● Specify the data type of the used constants explicitly with <type>#<value> or
● Use an explicit data type conversion.
16400 (Warning class: 6)
A global variable has been declared in a library. This may mean that the library cannot be used
more than once.
16401 (Warning class: 6)
A PROGRAM has been declared in a library. This cannot be used in the process system. Set the
compiler option "'Create program instance data only once" (-C prog_once) or declare a
FUNCTION_BLOCK
16420 (Warning class: 6)
The return value has not been assigned within the function. If such a function is called, it returns a
random value.
16421 (Warning class: 6)
A variable that has neither been assigned nor read in the code has been declared.
16430 (Warning class: 6)
An attempt is made to use a function block, which is either a system function block itself or includes
one, as a temporary variable. This can result in runtime problems when using the block in a cyclic
level.
16450 (Warning class: 10)
A global variable has been created in the retentive memory range. This declaration is not
permissible at the specified position.
Error Description
16451 (Warning class: 10)
The initialization of large arrays with values other than 0 causes a high data volume in the controller.
This results in long load times as well as high memory utilization.
16452 (Warning class: 10)
The specified program has a large quantity of instance data to be initialized. This can lead to a
runtime violation when the task is started because both the initialization code and the user code
are being executed. In particular, caution is advised in the case of SynchronousTasks.
16470 (Warning class: 10)
The specified construct does not conform to the language standard; however, for compatibility
reasons, it is supported for old platforms. Convert the usage to the specified alternative.
16600 (Warning class: 6)
The specified variable is not contained in the initialization list. The default initialization value is used.
16601 (Warning class: 6)
The specified variable is not contained in the initialization list. The default initialization value is used.
16602 (Warning class: 6)
The specified variable is not contained in the initialization list. The default initialization value is used.
16603 (Warning class: 6)
The specified function block does not contain any instance data and, as a result, has a size of
0 bytes. When transferred as a non-dimensional array for referencing purposes, the size of the
element is defined as 1 element.
16604 (Warning class: 6)
The data type used in the declaration has no unique initialization value. The initial value known last
is used. In order to achieve a unique behavior at this point, the initial value for the variable or data
type declaration must be specified explicitly.
16605 (Warning class: 6)
The memory space of the specified variables overlaps with another variable. Thus, the initialization
value cannot be included. The remaining memory space is assigned the default value 0.
16606 (Warning class: 6)
The memory space of the specified variables overlaps with another variable. Thus, the data type
cannot be transferred to the OPC XMP information. The component is symbolically unavailable and
also not included in backups using _exportUnitDataSet.
16700 (Warning class: 3)
The SIMOTION device can also be processed with previous versions of the SIMOTION SCOUT.
The specified construct is not supported by all the earlier versions of the compiler.
Error Description
32010 (Warning class: 6)
The specified jump label identifier has been declared but not used.
32020 (Warning class: 10)
The specified variable was declared globally in this source file or in another source file with the
indicated data type.
This information helps when searching for the cause of compilation errors. It is issued together with
error messages.
32021 (Warning class: 10)
The specified variable was declared on the device as an I/O variable, a global device variable, or
a system variable.
This information helps when searching for the cause of compilation errors. It is issued together with
error messages.
32022 (Warning class: 10)
The specified variable was declared in the project as a global identifier.
This information helps when searching for the cause of compilation errors. It is issued together with
error messages.
32023 (Warning class: 10)
Until now, no valid declaration has been found for the specified identifier.
This information is issued together with error messages.
32024 (Warning class: 0)
The specified variable has been declared as a global identifier in the current unit or in an importing
unit.
This information helps when searching for the cause of compilation errors. It is issued together with
error messages.
32025 (Warning class: 10)
The specified identifier was declared in this source or in another source in the specified namespace.
In order to be able to use this identifier, it must be prefixed with the identifier of the namespace.
This may be a variable, a constant or another identifier.
This information will help in searching for a compiler error. It is issued together with error messages.
32030 (Warning class: 0)
The specified array initialization does not conform to IEC 61131-3. For portable programs, the array
initialization values should be placed into square brackets. Example of field initialization in
compliance with the standard:
x : ARRAY [0 to 1] OF INT := [1, 2];
32050 (Warning class: 0)
The maximum size that can be reached via an HMI is 65536 bytes. This limit has been exceeded
with the specified variable. All subsequent variables cannot be reached either.
32300 (Warning class: 1)
A label has been specified several times in a CASE statement. Only the first label is ever evaluated.
Other specifications have no effect.
Error Description
32650 (Warning class: 7)
The specified identifier will be replaced thereafter by the output text.
This information enables the work of the preprocessor to be tracked.
32651 (Warning class: 7)
The definition of the specified identifier has been deleted with #undef.
This information enables the work of the preprocessor to be tracked.
32652 (Warning class: 7)
The identifier will be used with the specified replacement text in the source file. Compilation takes
place with the replacement text.
This information enables the work of the preprocessor to be tracked.
32653 (Warning class: 7)
The specified identifier will be replaced thereafter by the output text. This information appears if
additional replacements are loaded with a USES statement.
This information enables the work of the preprocessor to be tracked.
//============================================================================
//(organization)
//(division / place)
//(c)Copyright 2009 All Rights Reserved
//-----------------------------------------------------------------------------
// project name: (name)
// file name: (name as soon as saved)
// library: (that the source is dedicated to)
// system: (target system)
// version: (SIMOTION / SCOUT version)
// application: (relation to project/ product/ usage)
// restrictions:
// requirements: (hardware, technological package, memory needed, etc.)
// search items: (with the purpose of browser usage)
// functionality: (that is implemented)
//-----------------------------------------------------------------------------
// change log table:
// version date expert in charge changes applied
//
//=============================================================================
INTERFACE
// All statements added between INTERFACE and END_INTERFACE/
// Keywords are used to define which source contents
USEPACKAGE cam;
// The technology packages to be used are known here and thus
// made usable in the source. Technology object (TO)-specific
// Commands can be used in this UNIT only when the
// appropriate package has been included.
// If a source file that uses USEPACKAGE cam is integrated via USES,
// it will be "inherited". USEPACKAGE can then be omitted.
// The package used in this example is "cam". However, other
// technology packages can also be used (see documentation).
// USELIB testlib;
// If library functions are to be used in the source file, they must be made
// known in the source, too. If the library
// with the name "testlib" does not exist in the project,
// the error message
// "Error 10035, "testlib.lib" library could not be loaded"
// "Error 10032, "testlib" library could not be loaded"
// will be output.
// If libraries are not being used, this line can be
// deleted..
// USES header;
// ******************************************************
// * Type definition in the INTERFACE *
// ******************************************************
VAR_GLOBAL CONSTANT
PI : REAL := 3.1415;
ARRAY_MAX1 : INT := 4;
ARRAY_MAX2 : INT := 4;
COLLECTION_MAX : INT := 6;
GLOBARRAY_MAX : INT := 12;
END_VAR
// Declaration of a global constant. In the source file
// no other value can be assigned to the identifier.
sCollection : STRUCT
toAxisX : posaxis;
aInStructDim1 : ai16Dim1;
eTrafficInStruct : eTrafficLight;
i16Counter : INT;
b16Status : WORD;
END_STRUCT;
// A user-defined structure is created here. It is possible to
// combine elementary data types (here INT and WORD) or already defined
// user data types (here "array1dim" and "eTrafficLight") into
// one structure. In addition, types
// of technology objects can also be used.
// In the example, the structure contains an element of
type // a position axis (posaxis).
// In the definition, make certain to sort the variables
// by size in increasing sequence
// (ARRAY, STRUCT, LREAL, DWORD, INT, BOOL ...)
END_TYPE
// ******************************************************
// * Variable declaration in the INTERFACE *
// ******************************************************
gaMy2dim : aaDim2;
// Example of a declaration of a two-dimensional array
gaMy1dim : ai16Dim1;
// Example of a declaration of a one-dimensional array with
// use of a type declaration.
gsMyStruct : sCollection;
// Variable of the type or with the structure of
// user_struct.
gaMyArrayOfStruct : aCollection;
// The variable generated here contains a field from
// structural elements as declared in section TYPE/END_TYPE
//.
END_VAR
VAR_GLOBAL RETAIN
END_VAR
// The variables declared with the add-on RETAIN are
// // stored in the RETAIN data area of the hardware platform used and
// are therefore safe from network failure.
FUNCTION FCmyFirst;
FUNCTION_BLOCK FBmyFirst;
PROGRAM myPRG;
// The function blocks (FBs),
// functions (FCs) and programs defined in the interface part are exported
// so that they can be used in other units.
// Non-exported FBs and FCs can only be used in this source file
// ("information hiding", placing in the interface only
// what other units absolutely need).
// A program that has not been exported cannot be assigned to any TASK
//.
END_INTERFACE
A.3.4 Implementation
// ******************************************************
// * IMPLEMENTATION section *
// ******************************************************
IMPLEMENTATION
// In the IMPLEMENTATION section of a unit, the executable code sections
// are stored in various program organization units (POUs).
// A POU can be a program, FC, or FB.
VAR_GLOBAL CONSTANT
END_VAR
TYPE
END_TYPE
// The type definition can also be made in the IMPLEMENTATION section.
// However, this definition cannot be imported in another source file.
The type definition can, however, be used for variables
// in all POUs of the source file "sttemp_l_de". The definition of types must
// be performed before the declaration of a variable.
VAR_GLOBAL RETAIN
END_VAR
// The variables declared with the add-on RETAIN are
// stored in the RETAIN data area of the hardware platform used and
// are therefore safe from network failure.
EXPRESSION xCond
xCond := gboDigInput1;
END_EXPRESSION
// Definition of an EXPRESSION.
// An EXPRESSION is a special function case, which recognizes only the
// return value TRUE and FALSE. It is used in conjunction with the
// statement WAITFORCONDITON (see myPRG) and should only be used
// if the program is executed as part of
// a MotionTask. If "gboDigInput1" (usual in a digital input or a
// condition in the program) takes on the value 1, the return value of the
// EXPRESSIONTRUE.
A.3.5 Function
// ******************************************************
// * FUNCTION *
// ******************************************************
VAR CONSTANT
END_VAR
TYPE
END_TYPE
// The type declaration can also be made in POUs. The
// basic difference is the validity of the
// type declaration. A type declared in a POU can only
// be used for variables within associated POU.
// ********************************************
// * Area for FC code or statements *
// ********************************************)
// Code is in the user memory.
FCmyFirst := 17;
// In this example, the function returns the value "17" to the
// calling program.
END_FUNCTION
// ******************************************************
// * FUNCTION_BLOCK *
// ******************************************************
FUNCTION_BLOCK FBmyFirst
// The statement section of the POU FUNCTION_BLOCK begins here.
// Instance data are dependent where the instance is formed
// (see comments at the template end) in the user memory of UNIT
// or TASK and are initialized with STOP->RUN or starting the TASK
VAR CONSTANT
END_VAR
// Variables declared with VAR and VAR CONSTANT are
// static, i.e., on the next block call, their contents remain
// available and valid.
TYPE
END_TYPE
// The type definition can also be made in POUs. The
// basic difference is the validity of the
// Type definition. A type defined in a POU can only
// be used for variables within associated POU.
END_VAR
// ********************************************
// * Area for FB code or statements *
// ********************************************
END_FUNCTION_BLOCK
A.3.7 Program
// ******************************************************
// * PROGRAM *
// ******************************************************
PROGRAM myPRG
// The statement section of the POU PROGRAM begins here.
VAR CONSTANT
END_VAR
TYPE
END_TYPE
// The type definition can also be made in POUs. The
// basic difference is the validity of the
// type definition. A type defined in a POU can only
// be used for variables within associated POU.
instFBMyFirst : FBmyFirst;
// In order to be able to call an FB, an area for static
// variables (forming an instance) must be generated. This has to do with
// the "memory" of the FB.
retFCMyFirst : INT;
// Variable for the return value of the function.
END_VAR
instFBMyFirst ();
// FB call with a valid instance.
retFCMyFirst := FCmyFirst();
// FC call and assignment of return value.
END_PROGRAM
END_IMPLEMENTATION
+
#
+, 144
#define, 279
#else, 279
#endif, 279
#ifdef, 279
<
#ifndef, 279 <, 147
#undef, 279 <=, 147
<>, 147
*
*, 144
=
**, 144 =, 147
=>, 177
/
/, 144
>
>, 147
>=, 147
:
:, 109, 126
:=, 134, 175, 176
1
1.#INF, 302, 304
1.#QNAN, 302, 304
_
_AdditionObjectType, 123
_alarm, 266
A
_CamTrackType, 123 Absolute identifier
_ControllerObjectType, 123 Overview, 340
Access times
Parameter, 177
ANY, 107 C
ANY_BIT, 107
Call path
ANY_DATE, 107
Program run, 305
ANY_ELEMENTARY, 107
Breakpoint, 321, 324
ANY_INT, 107
Call stack, 330
ANY_NUM, 107
Program status, 311
ANY_REAL, 107
CamType, 123
ANYOBJECT, 123
CASE statement
Arithmetic operators, 144
Description, 152
ARRAY
Character set, 89, 338
Data type, 111
Code attributes, 274
With a defined length, 111
Commands
With a dynamic length, 173
Overview of the basic system, 342
Arrays
ST programming language overview, 96
Data type, 111
Comments, 103
Value assignments, 138, 139
Source file section, 103
With a defined length, 111
Syntax, 359
With a dynamic length, 173
Compiler, 80
AT, 118
Attribute, 281
Attribute
Correcting errors, 56, 81
Compiler option, 281
Declaration errors in data type declarations, 395
Declaration errors in POU, 394
Declaration errors in variable declarations, 396
B Error when linking a source file, 402
Basic elements Errors in expression, 397
Of ST, 89 Errors while loading the interface of another UNIT
Basic functions, 143 or technology package, 402
Bit constants, 100 File access errors, 393
Bit data types, 105 Implementation restrictions , 404
BlockInit_OnChange, 282 Information, 411
BlockInit_OnDeviceRun, 282 Scanner errors, 393
Blocks, 88 Setting, 57
Bookmarks, 44 Start, 81
BOOL, 105 starting, 56
Boolean data, 100 Syntax errors, errors in expression, 401
Branches Warnings, 405
Syntax, 389 Compiler option, 57, 66
Breakpoint, 312 Compiling
Activating, 327 Library, 259
Call path, 321, 324 Compound data types, 111, 115
Call stack, 330 CONSTANT, 128, 132
Deactivating, 329 Constant block
remove, 318 Syntax, 366
Setting, 318 Constants
Toolbar, 320 Bit, 100
BYTE, 105 Data types for constants, 104
Date and time, syntax, 356
Digit strings, syntax, 355
Floating-point number, 99
Formatting characters and separators, 339
W
WAITFORCONDITION statement
Description, 160
Example, 161
Warning class, 65, 277
Watch tables, 302
WHILE statement
Description, 157
WORD, 105
Workbench
Elements, 21
Programming environment, 19