Logix 5000 Controllers Structured Text: Programming Manual

Logix 5000 Controllers
Structured Text
1756 ControlLogix, 1756 GuardLogix, 1769 CompactLogix,
1769 Compact GuardLogix, 1789 SoftLogix, 5069
CompactLogix, 5069 Compact GuardLogix, Studio 5000
Logix Emulate
Programming Manual Original Instructions

Logix 5000 Controllers Structured Text
Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and
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Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to
be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
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In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use
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The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
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No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software
described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is
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Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to
personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.
Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.
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2 Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

Summary of changes
This manual includes new and updated information. Use these reference
tables to locate changed information.
Grammatical and editorial style changes are not included in this summary.
Global changes
This table identifies changes that apply to all information about a subject in
the manual and the reason for the change. For example, the addition of new
supported hardware, a software design change, or additional reference
material would result in changes to all of the topics that deal with that subject.
Change Topic
Updated Legal notices. Legal notices on page 8
Updated branding. Throughout
Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 3

Table of Contents
Summary of changes Studio 5000 environment .......................................................................... 7

Preface Additional resources ................................................................................... 7
Legal notices ................................................................................................ 8
Chapter 1
Program Structured Text Structured Text Syntax.............................................................................. 11
Structured Text Components: Assignments...................................... 12
Specify a non-retentive assignment ............................................. 13
Assign an ASCII character to a string data member ................... 14
Character string literals ................................................................ 14
Structured Text Components: Expressions ....................................... 15
Use arithmetic operators and functions ...................................... 16
Use relational operators ................................................................ 17
Use logical operators ..................................................................... 19
Use bitwise operators .................................................................... 19
Determine the order of execution ............................................... 20
Structured Text Components: Instructions...................................... 20
Structured Text Components: Constructs ......................................... 21
IF_THEN .............................................................................................. 22
CASE_OF.............................................................................................. 25
FOR_DO ............................................................................................... 27
WHILE_DO ......................................................................................... 29
REPEAT_UNTIL ................................................................................... 31
Structured Text Components: Comments ......................................... 34
Index

Preface
This manual shows how to program Logix 5000 controllers with structured
text programming language.
This manual is one of a set of related manuals that show common procedures
for programming and operating Logix 5000 controllers.
For a complete list of common procedures manuals, refer to the Logix 5000
Controllers Common Procedures Programming Manual, publication 1756-
PM001.
The term Logix 5000 controller refers to any controller based on the Logix
5000 operating system.
•
Studio 5000 environment The Studio 5000 Automation Engineering & Design Environment® combines
engineering and design elements into a common environment. The first
element is the Studio 5000 Logix Designer® application. The Logix Designer
application is the rebranding of RSLogix 5000® software and will continue to
be the product to program Logix 5000™ controllers for discrete, process,
batch, motion, safety, and drive-based solutions.
The Studio 5000® environment is the foundation for the future of

Rockwell Automation® engineering design tools and capabilities. The Studio
5000 environment is the one place for design engineers to develop all
elements of their control system.
Additional resources These documents contain additional information concerning related

Rockwell Automation products.
Resource Description
LOGIX 5000 Controllers Program Parameters Describes how to use program parameters when
Programming Manual publication 1756-PM021 programming Logix 5000 controllers.
LOGIX 5000 Controllers General Instructions Describes the available instructions for a Logix 5000
Reference Manual, publication 1756-RM003 controller.

Preface
Resource Description
LOGIX 5000 Controllers Process and Drives Describes how to program a Logix 5000 controller
Instructions Reference Manual, publication 1756- for process or drives applications.
RM006
LOGIX 5000 Controllers Motion Instruction Set Describes how to program a Logix 5000 controller
Reference Manual, publication MOTION-RM002 for motion applications.
Product Certifications Provides declarations of conformity, certificates,

website, http://ab.rockwellautomation.com and other certification details.
You can view or download publications

at http://www.rockwellautomation.com/literature. To order paper copies of
technical documentation, contact your local Rockwell Automation distributor
or sales representative.
Legal notices Rockwell Automation publishes legal notices, such as privacy policies, license
agreements, trademark disclosures, and other terms and conditions on
the Legal Notices page of the Rockwell Automation website.
End User License Agreement (EULA)

You can view the Rockwell Automation End User License Agreement (EULA)
by opening the license.rtf file located in your product's install folder on your
hard drive.
The default location of this file is:
C:\Program Files (x86)\Common Files\Rockwell\license.rtf.
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The software included in this product contains copyrighted software that is
licensed under one or more open source licenses.
You can view a full list of all open source software used in this product and
their corresponding licenses by opening the oss_license.txt file located your
product's OPENSOURCE folder on your hard drive. This file is divided into
these sections:
• Components
Includes the name of the open source component, its version number,
and the type of license.
• Copyright Text
Includes the name of the open source component, its version number,
and the copyright declaration.

Preface
• Licenses
Includes the name of the license, the list of open source components
citing the license, and the terms of the license.
The default location of this file is:
C:\Program Files (x86)\Common Files\Rockwell\Help\<product
name>\Release Notes\OPENSOURCE\oss_licenses.txt.
You may obtain Corresponding Source code for open source packages
included in this product from their respective project web site(s).
Alternatively, you may obtain complete Corresponding Source code by
contacting Rockwell Automation via the Contact form on the Rockwell
Automation website: http://www.rockwellautomation.com/global/about-
us/contact/contact.page. Please include "Open Source" as part of the request
text.

Chapter 1
Program Structured Text
Structured Text Syntax Structured text is a textual programming language that uses statements to
define what to execute.
• Structured text is not case sensitive.
• Use tabs and carriage returns (separate lines) to make your structured
text easier to read. They have no effect on the execution of the
structured text.
Structured text is not case sensitive. Structured text can contain these
components.
Term Definition Examples
Assignment Use an assignment statement to assign values to tags. The := operator is the tag := expression;
assignment operator.
Terminate the assignment with a semi colon ‘;.’
Expression An expression is part of a complete assignment or construct statement. An
expression evaluates to a number (numerical expression), a String (string
expression), or to a true or false state (BOOL expression)
Tag Expression A named area of the memory where data is stored (BOOL, SINT, INT, DINT, REAL, value1
String).
Immediate A constant value 4
Expression
Operators A symbol or mnemonic that specifies an operation within an expression. tag1 + tag2
Expression tag1 >= value1
Function When executed, a function yields one value. Use parentheses to contain the function(tag1)
Expression operand of a function.
Even though their syntax is similar, functions differ from instructions in that
functions can be used only in expressions. Instructions cannot be used in
expressions.
Instruction An instruction is a standalone statement. instruction();
An instruction uses parentheses to contain its operands.
Depending on the instruction, there can be zero, one, or multiple operands. instruction(operand);
When executed, an instruction yields one or more values that are part of a data
structure. Terminate the instruction with a semi colon(;). instruction(operand1, operand2,operand3);
Even though their syntax is similar, instructions differ from functions in that
instructions cannot be used in expressions. Functions can be used only in
expressions.
Construct A conditional statement used to trigger structured text code (that is, other IF...THEN CASE FOR...DO WHILE...DO
statements). Terminate the construct with a semi colon (;). REPEAT...UNTIL
EXIT

Chapter 1 Program Structured Text
Comment Text that explains or clarifies what a section of structured text does. //comment
Use comments to make it easier to interpret the structured text.
Comments do not affect the execution of the structured text. (*start of comment . . . end of comment*)
Comments can appear anywhere in structured text.
/*start of comment . . . end of comment*/
See also
Structured Text Components: Assignments on page 12
Structured Text Components: Expressions on page 15
Structured Text Components: Instructions on page 20
Structured Text Components: Constructs on page 21
Structured Text Components: Comments on page 34
Structured Text Use an assignment to change the value stored within a tag. An assignment
has this syntax:
Components: Assignments
tag := expression;
where:
Component Description
Tag Represents the tag that is getting the new value; the tag must be a BOOL, SINT, INT,
DINT, STRING, or REAL.
Tip: The STRING tag is applicable to CompactLogix 5380, CompactLogix 5480,
ControlLogix 5580, Compact GuardLogix 5380, and GuardLogix 5580 controllers only.
:= Is the assignment symbol
Expression Represents the new value to assign to the tag
If tag is this data type Use this type of expression
BOOL BOOL
SINT Numeric
INT
DINT
REAL
STRING String type, including string tag and string
(CompactLogix 5380, CompactLogix literal
5480, ControlLogix 5580, Compact (CompactLogix 5380, CompactLogix 5480,
GuardLogix 5380, and GuardLogix ControlLogix 5580, Compact GuardLogix 5380,
5580 controllers only). and GuardLogix 5580 controllers only).
; Ends the assignment
The tag retains the assigned value until another assignment changes the
value.
The expression can be simple, such as an immediate value or another tag
name, or the expression can be complex and include several operators and
functions, or both. Refer to Expressions for more information.

Tip: I/O module data updates asynchronously to the execution of logic. If you reference an input
multiple times in your logic, the input could change state between separate references. If you need
the input to have the same state for each reference, buffer the input value and reference that
buffer tag. For more information, see Logix 5000 Controllers Common Procedures, publication
1756-PM001.
You can also use Input and Output program parameters which automatically buffer the data during
the Logix Designer application execution. See LOGIX 5000 Controllers Program Parameters
Programming Manual, publication 1756-PM021.
See also
Assign an ASCII character to a string data member on page 14
Specify a non-retentive assignment on page 13
Character string literals on page 14
Specify a non-retentive The non-retentive assignment is different from the regular assignment
described above in that the tag in a non-retentive assignment is reset to zero
assignment each time the controller:
• Enters the Run mode
• Leaves the step of an SFC if you configure the SFC for Automatic reset.
This applies only if you embed the assignment in the action of the step
or use the action to call a structured text routine by using a JSR
instruction.
A non-retentive assignment has this syntax:
tag [:=] expression ;
where:
Component Description
tag Represents the tag that is getting the new value; the tag must be a BOOL,
SINT, INT, DINT, STRING, or REAL.
Tip: The STRING tag is applicable to CompactLogix 5380, CompactLogix
5480, ControlLogix 5580, Compact GuardLogix 5380, and GuardLogix 5580
controllers only.
[:=] Is the non-retentive assignment symbol.
expression Represents the new value to assign to the tag.
If tag is this data type Use this type of expression
BOOL BOOL
SINT Numeric
INT
DINT
REAL

STRING String type, including string tag and
(CompactLogix 5380, CompactLogix string literal
5480, ControlLogix 5580, Compact CompactLogix 5380, CompactLogix
GuardLogix 5380, and GuardLogix 5480, ControlLogix 5580, Compact
5580 controllers only). GuardLogix 5380, and GuardLogix 5580
controllers( only)
See also
Assign an ASCII character to a string data member on page 14
Assign an ASCII character

to a string data member Assign an ASCII character to a string data member
Use the assignment operator to assign an ASCII character to an element of
the DATA member of a string tag. To assign a character, specify the value of
the character or specify the tag name, DATA member, and element of the
character. For example:
This is OK This is not OK
string1.DATA[0] := 65; string1.DATA[0] := A;
string1.DATA[0]:= string2.DATA[0]; string1 := string2;
Tip: This assigns all content of string2 to string1
instead of just one character.
To add or insert a string of characters to a string tag, use either of these ASCII
string instructions:
To Use this instruction
Add characters to the end of a string CONCAT
Insert characters into a string INSERT
See also
Character string literals on page 14
Character string literals Character string literals include single byte or double byte encoded
characters. A single-byte string literal is a sequence of zero or more characters
that are prefixed and terminated by the single quote character ('). In single
byte character strings, the three-character combination of the dollar sign ($)
followed by two hexadecimal digits is interpreted as the hexadecimal
representation of the eight-bit character code as shown in the following table.
Tip: Character string literals are only applicable to the CompactLogix 5380, CompactLogix 5480,
ControlLogix 5580, Compact GuardLogix 5380, and GuardLogix 5580 controllers.
Studio 5000 only supports single byte characters.

Character string literals

No. Description Example
1a Empty string (length zero) ''
1b String of length one or character CHAR containing a single character 'A'
1c String of length one or character CHAR containing the “space” ''
character
1d String of length one or character CHAR containing the “single quote” '$''
character
1e String of length one or character CHAR containing the “double quote” '"'
character
1f Support of two character combinations '$R$L'
1g Support of a character representation with ‘$’ and two hexadecimal '$0A'
characters
Two-character combinations in character strings

No. Description Example
1 Dollar sign $$
2 Single quote $'
3 Line feed $L or $I
4 Newline $N or $n
5 Form feed (page) $P or $p
6 Carriage return $R or $r
7 Tabulator $T or $t
Tip: The newline character provides an implementation-independent means of defining the end of
a line of data for both physical and file I/O; for printing, the effect is that of ending a line of data
and resuming printing at the beginning of the next line.
The $' combination is only valid inside single quoted string literals.
See also
Structured Text An expression is a tag name, equation, or comparison. To write an expression,

use any of the following:
Components: Expressions
• Tag name that stores the value (variable)
• Number that you enter directly into the expression (immediate value)
• String literal that you enter directly into the expression (CompactLogix
5380, CompactLogix 5480, ControlLogix 5580, Compact GuardLogix
5380, and GuardLogix 5580 controllers only)
• Functions, such as: ABS, TRUNC
• Operators, such as: +, -, <, >, And, Or
Follow these guidelines for writing expressions:
• Use any combination of upper-case and lower-case letter. For example,
these variations of "AND" are acceptable: AND, And, and.

• For more complex requirements, use parentheses to group expressions
within expressions. This makes the whole expression easier to read,
and ensures that the expression executes in the desired sequence.
Use these expressions for structured text:
BOOL expression: An expression that produces the BOOL value of 1 (true) or 0
(false).
• A bool expression uses bool tags, relational operators, and logical
operators to compare values or check if conditions are true or false. For
example, tag1>65.
• A simple bool expression can be a single BOOL tag.
• Typically, use bool expressions to condition the execution of other
logic.
Numeric expression: An expression that calculates an integer or floating-
point value.
• A numeric expression uses arithmetic operators, arithmetic functions,
and bitwise operators. For example, tag1+5.
• Nest a numeric expression within a BOOL expression. For example,
(tag1+5)>65.
String expression: An expression that represents a string
• A simple expression can be a string literal or a string tag
Use this table to select the operators for expressions.
If Use
Calculating an arithmetic value Arithmetic operators and functions
Comparing two values or strings Relational operators
Verifying if conditions are true or false Logical operators
Comparing the bits within values Bitwise operators
See also
Use arithmetic operators and functions on page 16
Use relational operators on page 17
Use logical operators on page 19
Use bitwise operators on page 19
Use arithmetic operators Combine multiple operators and functions in arithmetic expressions.
and functions Operators calculate new values.

To Use this operator Optimal data type
Add + DINT, REAL
Subtract/negate - DINT, REAL
Multiply * DINT, REAL

Exponent (x to the power of y) ** DINT, REAL
Divide / DINT, REAL
Modulo-divide MOD DINT, REAL
Functions perform math operations. Specify a constant, a non-Boolean tag, or

an expression for the function.
For Use this function Optimal data type
Absolute value ABS (numeric_expression) DINT, REAL
Arc cosine ACOS (numeric_expression) REAL
Arc sine ASIN (numeric_expression) REAL

Arc tangent ATAN (numeric_expression) REAL
Cosine COS (numeric_expression) REAL

Radians to degrees DEG (numeric_expression) DINT, REAL
Natural log LN (numeric_expression) REAL
Log base 10 LOG (numeric_expression) REAL
Degrees to radians RAD (numeric_expression) DINT, REAL
Sine SIN (numeric_expression) REAL
Square root SQRT (numeric_expression) DINT, REAL
Tangent TAN (numeric_expression) REAL
Truncate TRUNC (numeric_expression) DINT, REAL
The table provides examples for using arithmetic operators and functions.
Use this format Example
For this situation Write
value1 operator value2 If gain_4 and gain_4_adj are DINT tags and your specification says: gain_4_adj := gain_4+15;
‘Add 15 to gain_4 and store the result in gain_4_adj’"
operator value1 If alarm and high_alarm are DINT tags and your specification says: alarm:= -high_alarm;
‘Negate high_alarm and store the result in alarm.’
function(numeric_expression) If overtravel and overtravel_POS are DINT tags and your overtravel_POS := ABS(overtravel);
specification says: ‘Calculate the absolute value of overtravel and
store the result in overtravel_POS.’
value1 operator (function((value2+value3)/2) If adjustment and position are DINT tags and sensor1 and sensor2 position := adjustment + ABS((sensor1
are REAL tags and your specification says: ‘Find the absolute value +
of the average of sensor1 and sensor2, add the adjustment, and sensor2)/2);
store the result in position.’
See also
Use relational operators Relational operators compare two values or strings to provide a true or false
result. The result of a relational operation is a BOOL value.
If the comparison is The result is
True 1
False 0

Use these relational operators.
For this comparison Use this operator Optimal data type
Equal = DINT, REAL, String type
Less than < DINT, REAL, String type
Less than or equal <= DINT, REAL, String type
Greater than > DINT, REAL, String type
Greater than or equal >= DINT, REAL, String type
Not equal <> DINT, REAL, String type
The table provides examples of using relational operators

For this situation Write
value1 operator value2 If temp is a DINT tag and your specification says: ‘If IF temp<100 THEN...
temp is less than 100⋅ then…’
stringtag1 operator stringtag2 If bar_code and dest are string tags and your IF bar_code=dest THEN...
specification says: ‘If bar_code equals dest then…’
stringtag1 operator 'character string If bar_code is a string tag and your specification says: IF bar_code=’Test PASSED’ THEN...
literal' ‘If bar_code equals ’Test PASSED’ then...’
char1 operator char2 If bar_code is a string tag and your specification says: IF bar_code.DATA[0]=65 THEN...
To enter an ASCII character directly into ‘If bar_code.DATA[0] equals ’A’ then…’
the expression, enter the decimal value
of the character.
bool_tag := bool_expressions If count and length are DINT tags, done is a BOOL tag, Done := (count >= length);
and your specification says: ‘If count is greater than or
equal to length, you are done counting.’
How strings are evaluated

The hexadecimal values of the ASCII characters determine if one string is less
than or greater than another string.
• When the two strings are sorted as in a telephone directory, the order
of the strings determines which one is greater.
• Strings are equal if their characters match.

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

See also
Use logical operators Use logical operators to verify if multiple conditions are true or false. The
result of a logical operation is a BOOL value.
If the comparison is The result is
true 1
false 0
Use these logical operators.

For this comparison Use this operator Optimal data type
logical AND &, AND BOOL
logical OR OR BOOL
logical exclusive OR XOR BOOL
logical complement NOT BOOL
The table provides examples of using logical operators.

For this situation Use
BOOLtag If photoeye is a BOOL tag and your specification says: "If photoeye_1 IF photoeye THEN...
is on then..."
NOT BOOLtag If photoeye is a BOOL tag and your specification says: "If photoeye is IF NOT photoeye THEN...
off then..."
expression1 & expression2 If photoeye is a BOOL tag, temp is a DINT tag, and your specification IF photoeye & (temp<100) THEN...
says: "If photoeye is on and temp is less than 100 then..."
expression1 OR expression2 If photoeye is a BOOL tag, temp is a DINT tag, and your specification IF photoeye OR (temp<100)
says: "If photoeye is on or temp is less than 100 then...". THEN...
expression1 XOR expression2 If photoeye1 and photoeye2 are BOOL tags and your specification IF photoeye1 XOR photoeye2
says: "If: THEN...
photoeye1 is on while photoeye2 is off or
photoeye1 is off while photoeye2 is on
then..."
BOOLtag := expression1 & If photoeye1 and photoeye2 are BOOL tags, open is a BOOL tag, and open := photoeye1 & photoeye2;
expression2 your specification says: "If photoeye1 and photoeye2 are both on, set
open to true"
See also
Use bitwise operators Bitwise operators manipulate the bits within a value based on two values.
The following provides an overview of the bitwise operators.
For Use this operator Optimal data type
bitwise AND &, AND DINT
bitwise OR OR DINT
bitwise exclusive OR XOR DINT
bitwise complement NOT DINT

This is an example.
For this situation Use
value1 operator value2 If input1, input2, and result1 are DINT tags and your specification result1 := input1 AND input2;
says: "Calculate the bitwise result of input1 and input2. Store the
result in result1."
See also
Determine the order The operations written into an expression perform in a prescribed order.
of execution • Operations of equal order perform from left to right.

• If an expression contains multiple operators or functions, group the
conditions in parenthesis "( )". This ensures the correct order of
execution, and makes it easier to read the expression.
Order Operation
1 ()
2 function (...)
3 **
4 - (negate)
5 NOT
6 *,/,MOD
7 +,- (subtract)
8 <,<=,>,>=
9 =,<>
10 &,AND
11 XOR
12 OR
See also
Structured Text Structured text statements can also be instructions. A structured text
instruction executes each time it is scanned. A structured text instruction
Components: Instructions within a construct executes every time the conditions of the construct are
true. If the conditions of the construct are false, the statements within the
construct are not scanned. There is no rung-condition or state transition that
triggers execution.
This differs from function block instructions that use EnableIn to trigger
execution. Structured text instructions execute as if EnableIn is always set.
This also differs from ladder diagram instructions that use rung-condition-in
to trigger execution. Some ladder diagram instructions only execute when
rung- condition-in toggles from false to true. These are transitional ladder

diagram instructions. In structured text, instructions execute when they are
scanned unless pre-conditioning the execution of the structured text
instruction.
For example, the ABL instruction is a transitional instruction in ladder
diagram. In this example, the ABL instruction only executes on a scan when
tag_xic transitions from cleared to set. The ABL instruction does not execute
when tag_xic stays set or when tag_xic clears.
In structured text, if writting this example as:

IF tag_xic THEN ABL(0,serial_control);
END_IF;
The ABL instruction will execute every scan that tag_xic is set, not just when
tag_xic transitions from cleared to set.
If you want the ABL instruction to execute only when tag_xic transitions from
cleared to set, you have to condition the structured text instruction. Use a one-
shot to trigger execution.
osri_1.InputBit := tag_xic;
OSRI(osri_1);
IF (osri_1.OutputBit) THEN
ABL(0,serial_control);
END_IF;
Structured Text Program constructs alone or nest within other constructs.
Components: Constructs If
Doing something if or when specific conditions occur
Use this construct
IF. . . THEN
Selecting what to do based on a numerical value CASE. . . OF
Doing something a specific number of times before doing anything else FOR. . . DO
Continuing doing something when certain conditions are true WHILE. . . DO
Continuing doing something until a condition is true REPEAT. . . UNTIL
Some Key Words are Reserved

These constructs are not available:

• GOTO
• REPEAT
Logix Designer application will not let you use them as tag names or
constructs.
See also
IF_THEN on page 22
CASE_OF on page 25
FOR_DO on page 27
WHILE_DO on page 29
REPEAT_UNTIL on page 31
IF_THEN Use IF_THEN to complete an action when specific conditions occur.
Operands
IF bool_expression THEN
<statement>;
Operand Type Format Enter
Bool_ BOOL Tag expression BOOL tag or expression that evaluates to a BOOL
expression value
(BOOL expression)

Description
The syntax is described in the table.
To use ELSIF or ELSE, follow these guidelines.

To select from several possible groups of statements, add one or more ELSIF
statements.
Each ELSIF represents an alternative path.

Specify as many ELSIF paths as you need.
The controller executes the first true IF or ELSIF and skips the rest of the
ELSIFs and the ELSE.
To do something when all of the IF or ELSIF conditions are false, add an ELSE
statement.
The table summarizes different combinations of IF, THEN, ELSIF, and ELSE.
If And Use this construct
Doing something if or when conditions are Do nothing if conditions are false IF_THEN
true Do something else if conditions are false IF_THEN_ELSE
Selecting alternative statements or groups of Do nothing if conditions are false IF_THEN_ELSIF
statements based on input conditions Assign default statements if all conditions are IF_THEN_ELSIF_ELSE
false
Affects Math Status Flags

No

Major/Minor Faults
None.
Examples
Example 1
IF…THEN
If performing this Enter this structured text
IF rejects > 3 then IF rejects > 3 THEN
conveyor = off (0) conveyor := 0;

alarm = on (1) alarm := 1;
END_IF;
Example 2
IF_THEN_ELSE
If conveyor direction contact = forward (1) then IF conveyor_direction THEN
light = off light := 0;
Otherwise light = on ELSE
light [:=] 1;
END_IF;
The [:=] tells the controller to clear light whenever the controller does the
following :
Enters the RUN mode.
Leaves the step of an SFC if you configure the SFC for Automatic reset. (This
applies only if you embed the assignment in the action of the step or use the
action to call a structured text routine via a JSR instruction.)
Example 3
IF…THEN…ELSIF
If sugar low limit switch = low (on) and sugar high limit switch = not IF Sugar.Low & Sugar.High THEN
high
(on) then
inlet valve = open (on) Sugar.Inlet [:=] 1;
Until sugar high limit switch = high (off ) ELSIF NOT(Sugar.High) THEN
Sugar.Inlet := 0;

END_IF;
The [:=] tells the controller to clear Sugar.Inlet whenever the controller does
the following :
Leaves the step of an SFC if you configure the SFC for Automatic reset. (This
applies only if you embed the assignment in the action of the step or use the
action to call a structured text routine via a JSR instruction.)
Example 4
IF…THEN…ELSIF…ELSE
If tank temperature > 100 IF tank.temp > 200 THEN
then pump = slow pump.fast :=1; pump.slow :=0; pump.off :=0;
If tank temperature > 200 ELSIF tank.temp > 100 THEN
then pump = fast pump.fast :=0; pump.slow :=1; pump.off :=0;
Otherwise pump = off ELSE
pump.fast :=0; pump.slow :=0; pump.off :=1;
END_IF;
CASE_OF Use CASE_OF to select what to do based on a numerical value.
Operands
CASE numeric_expression OF
selector1: statement;
selectorN: statement; ELSE
Structured Text
Numeric_ SINT INT DINT Tag expression Tag or expression that evaluates to a
expression REAL number
(numeric expression)
Selector SINT INT DINT Immediate Same type as numeric_expression
REAL
IMPORTANT If using REAL values, use a range of values for a selector because a REAL value is
more likely to be within a range of values than an exact match of one, specific value.

Description
These are the syntax for entering the selector values.

When selector is Enter
One value value: statement
Multiple, distinct values value1, value2, valueN : <statement>
Use a comma (,) to separate each value.

A range of values value1..valueN : <statement>
Use two periods (..) to identify the range.

Distinct values plus a range of valuea, valueb, value1..valueN : <statement>
values
The CASE construct is similar to a switch statement in the C or C++

programming languages. With the CASE construct, the controller executes
only the statements that associated with the first matching selector value.
Execution always breaks after the statements of that selector and goes to the
END_CASE statement.

No
Major/Minor Faults
None

Example
If you want this Enter this structured text
If recipe number = 1 then Ingredient A outlet 1 = open (1) Ingredient B CASE recipe_number OF
outlet 4 = open (1) 1:
Ingredient_A.Outlet_1 :=1; Ingredient_B.Outlet_4 :=1;
If recipe number = 2 or 3 then 2,3:
Ingredient_A.Outlet_4 :=1; Ingredient_B.Outlet_2 :=1;
Ingredient A outlet 4 = open (1)
Ingredient B outlet 2 = open (1)
If recipe number = 4, 5, 6, or 7 then Ingredient A outlet 4 = open (1) 4 to 7: Ingredient_A.Outlet_4 :=1; Ingredient_B.Outlet_2 :=1;
Ingredient B outlet 2 = open (1)
If recipe number = 8, 11, 12, or 13 then Ingredient A outlet 1 = open (1) 8,11…13
Ingredient B outlet 4 = open (1) Ingredient_A.Outlet_1 :=1; Ingredient_B.Outlet_4 :=1;
Otherwise all outlets = closed (0) ELSE
Ingredient_A.Outlet_1 [:=]0; Ingredient_A.Outlet_4 [:=]0; Ingredient_B.Outlet_2 [:=]0;
Ingredient_B.Outlet_4 [:=]0;
END_CASE;
The [:=] tells the controller to also clear the outlet tags whenever the controller
does the following:
Leaves the step of an SFC if configuring the SFC for Automatic reset. This
applies only embedding the assignment in the action of the step or using the
action to call a structured text routine via a JSR instruction.
FOR_DO Use the FOR_DO loop to perform an action a number of times before doing
anything else.
When enabled, the FOR instruction repeatedly executes the Routine until the
Index value exceeds the Terminal value. The step value can be positive or
negative. If it is negative, the loop ends when the index is less than the
terminal value.. If it is positive, the loop ends when the index is greater than
the terminal value.
Each time the FOR instruction executes the routine, it adds the Step size to
the Index.
Do not loop too many times in a single scan. An excessive number of
repetitions causes the controller watchdog to timeout and causes a major
fault.
Operands
FOR count:= initial_value TO
final_value BY increment DO
<statement>;
END_FOR;

Operand Type Format Description
count SINT INT DINT Tag Tag to store count position as the FOR_DO
executes
initial_ value SINT INT DINT Tag expression Must evaluate to a number
Immediate Specifies initial value for count
final_ value SINT INT DINT Tag expression Specifies final value for count, which
Immediate determines when to exit the loop
increment SINT INT DINT Tag expression (Optional) amount to increment count each time
Immediate through the loop
If you don’t specify an increment, the count
increments by 1.
IMPORTANT Do not iterate within the loop too many times in a single scan.
The controller does not execute other statements in the routine until it completes the
loop.
A major fault occurs when completing the loop takes longer than the watchdog timer
for the task.
Consider using a different construct, such as IF_THEN.
Description
This diagrams illustrates how a FOR_DO loop executes, and how an EXIT
statement leaves the loop early.
The FOR_DO loop executes a specific number of times. To stop the loop before the count reaches the last value, use
an EXIT statement.


No
Major/Minor Faults
A major fault will occur if Fault type Fault code
The construct loops too long. 6 1
Example 1
If performing the following, Enter this structured text
Clear bits 0…31 in an array of BOOLs: For subscript:=0 to 31 by 1 do
Initialize the subscript tag to 0. array[subscript] := 0;
Clear i . For example, when subscript = 5, clear array[5]. End_for;
Add 1 to subscript.
If subscript is ≤ to 31, repeat 2 and 3.
Otherwise, stop.
Example 2
A user-defined data type (structure) stores the following information SIZE(Inventory,0,Inventory_Items);
about an item in your inventory: For position:=0 to Inventory_Items - 1 do
• Barcode ID of the item (String data type) If Barcode = Inventory[position].ID then
• Quantity in stock of the item (DINT data type)
Quantity := Inventory[position].Qty;
An array of the above structure contains an element for each different
Exit;
item in your inventory. You want to search the array for a specific
End_if;
product (use its bar code) and determine the quantity that is in stock.
1. Get the size (number of items) of the Inventory array and store the End_for;
result in
2. Inventory_Items (DINT tag).
Initialize the position tag to 0.
3. If Barcode matches the ID of an item in the array, then:
Set the Quantity tag = Inventory[position].Qty. This produces the quantity
in stock of the item.
Stop.
Barcode is a string tag that stores the bar code of the item for which you
are searching. For example, when
position = 5, compare Barcode to Inventory[5].ID.
4. Add 1 to position.
5. If position is ≤ to (Inventory_Items -1), repeat 3 and 4. Since element
numbers start at 0, the last element is 1 less than the number of
elements in the array.
Otherwise, stop.
WHILE_DO Use the WHILE_DO loop to continue performing an action while certain
conditions are true.

Operands
WHILE bool_expression DO
<statement>;
Structured Text
Operand Type Format Description
bool_expression BOOL tag BOOL tag or expression that
expression evaluates to a BOOL value
The controller does not execute any other statements in the routine until it completes
the loop.
for the task.
Description
The syntax is:
The following diagrams illustrate how a WHILE_DO loop executes, and how
an EXIT statement leaves the loop early.
While the bool_expression is true, the controller To stop the loop before the conditions are true, use an EXIT statement.
executes only the statements within the WHILE_DO loop.


No
Fault Conditions
the construct loops too long 6 1
Example 1
The WHILE_DO loop evaluates its conditions first. If the conditions are pos := 0;
true, the controller then executes the statements within the loop. While ((pos <= 100) & structarray[pos].value <> targetvalue)) do
This differs from the REPEAT_UNTIL loop because the REPEAT_UNTIL loop pos := pos + 2;
executes the statements in the construct and then determines if the
String_tag.DATA[pos] := SINT_array[pos];
conditions are true before executing the statements again. The
end_while;
statements in a REPEAT_UNTIL loop are always executed at least once.
The statements in a WHILE_DO loop might never be executed.
Example 2
Move ASCII characters from a SINT array into a string tag. (In a SINT array, element_number := 0;
each element holds one character.) Stop when you reach the carriage SIZE(SINT_array, 0, SINT_array_size);
return. While SINT_array[element_number] <> 13 do
Initialize Element_number to 0. String_tag.DATA[element_number] := SINT_array[element_number];
Count the number of elements in SINT_array (array that contains the ASCII
element_number := element_number + 1;
characters) and store the result in SINT_array_size (DINT tag).
String_tag.LEN := element_number;
If the character at SINT_array[element_number] = 13 (decimal value of
the carriage return), then stop. If element_number = SINT_array_size then
Set String_tag[element_number] = the character at exit;
SINT_array[element_number]. end_if;
Add 1 to element_number. This lets the controller check the next end_while;
character in SINT_array.
Set the Length member of String_tag = element_number. (This records
the number of characters in String_tag so far.)
If element_number = SINT_array_size, then stop. (You are at the end of
the array and it does not contain a carriage return.)
REPEAT_UNTIL Use the REPEAT_UNTIL loop to continue performing an action until

conditions are true.
Operands
REPEAT
<statement>;

Structured Text
bool_ BOOL Tag expression BOOL tag or expression that evaluates to a BOOL
expression value
(BOOL expression)
The controller does not execute other statements in the routine until it completes the
loop.
for the task.
Description
The syntax is:
The following diagrams show how a REPEAT_UNTIL loop executes and how
an EXIT statement leaves the loop early.
While the bool_expression is false, the controller executes only the statements
within the REPEAT_UNTIL loop.

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

No
Fault Conditions
The construct loops too long 6 1
Example 1
The REPEAT_UNTIL loop executes the statements in the construct and pos := -1;
then determines if the conditions are true before executing the REPEAT
statements again. This differs from the WHILE_DO loop because the pos := pos + 2;
WHILE_DO The WHILE_DO loop evaluates its conditions first.
UNTIL ((pos = 101) OR (structarray[pos].value = targetvalue))
If the conditions are true, the controller then executes the statements
end_repeat;
within the loop. The statements in a REPEAT_UNTIL loop are always
executed at least once. The statements in a WHILE_DO loop might never
be executed.
Example 2
Move ASCII characters from a SINT array into a string tag. (In a SINT array, element_number := 0;
each element holds one character.) Stop when you reach the carriage SIZE(SINT_array, 0, SINT_array_size);
return. Repeat
Initialize Element_number to 0. String_tag.DATA[element_number] := SINT_array[element_number];
Count the number of elements in SINT_array (array that contains the ASCII
element_number := element_number + 1;
characters) and store the result in SINT_array_size (DINT tag).
String_tag.LEN := element_number;
If element_number = SINT_array_size then

Set String_tag[element_number] = the character at exit;
SINT_array[element_number]. end_if;
Add 1 to element_number. This lets the controller check the next Until SINT_array[element_number] = 13
character in end_repeat;
SINT_array.
Set the Length member of String_tag = element_number. (This records
the number of characters in String_tag so far.)
If element_number = SINT_array_size, then stop. (You are at the end of
the array and it does not contain a carriage return.)
If the character at SINT_array[element_number] = 13 (decimal value of
the carriage return), then stop.
Structured Text To make your structured text easier to interpret, add comments to it.
Components: Comments • Comments let you use plain language to describe how your structured
text works.
• Comments do not affect the execution of the structured text.
To add comments to your structured text:

To add a comment Use one of these formats
on a single line //comment
(*comment*)
at the end of a line of structured text /*comment*/
within a line of structured text (*comment*)
/*comment*/
that spans more than one line (*start of comment. . .end of comment*)
/*start of comment. . .end of comment*/
For example:
Format Example
//comment At the beginning of a line
//Check conveyor belt direction
IF conveyor_direction THEN...
At the end of a line
ELSE //If conveyor isn’t moving, set alarm light
light := 1;
END_IF;
(*comment*) Sugar.Inlet[:=]1;(*open the inlet*)

IF Sugar.Low (*low level LS*)& Sugar.High (*high level LS*)THEN...
(*Controls the speed of the recirculation pump. The speed depends on the temperature in the
tank.*)
IF tank.temp > 200 THEN...
/*comment*/ Sugar.Inlet:=0;/*close the inlet*/
IF bar_code=65 /*A*/ THEN...
/*Gets the number of elements in the Inventory array and stores the value in the
Inventory_Items tag*/
SIZE(Inventory,0,Inventory_Items);

Index
Assignments 12
structured text expression 20
Index W
WHILE?DO 29
A
arithmetic operators 16
ASCII character 14
assign ASCII character 14
B
bitwise operators 19
C
CASE 25
comments 34
E
evaluation in structured text 17
evaluation of strings 17
F
FOR?DO 27
functions 16
I
IF...THEN 22
L
logical operators 19
N
non-retentive 13
non-retentive assignment 13
R
relational operators 17
REPEAT?UNTIL 31
S
structured text 13, 16, 17, 19, 20, 34
structured text assignment 14
Structured Text Components

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Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

Supersedes Publication 1756-PM007H-EN-P - November 2018 Copyright © 2020 Rockwell Automation Technologies, Inc. All Rights Reserved. Printed in the U.S.A.

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Logix 5000 Controllers

Programming Manual Original Instructions

Important User Information

Labels may also be on or inside the equipment to provide specific precautions.

2 Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

Updated branding. Throughout

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 3

Summary of changes Studio 5000 environment .......................................................................... 7

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 5

The Studio 5000® environment is the foundation for the future of

Additional resources These documents contain additional information concerning related

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 7

Product Certifications Provides declarations of conformity, certificates,

You can view or download publications

End User License Agreement (EULA)

Open Source Software Licenses

8 Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 9

Program Structured Text

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 11

12 Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 13

Assign an ASCII character

14 Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

Character string literals

Two-character combinations in character strings

Structured Text An expression is a tag name, equation, or comparison. To write an expression,

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 15

and functions Operators calculate new values.

16 Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

Functions perform math operations. Specify a constant, a non-Boolean tag, or

Arc sine ASIN (numeric_expression) REAL

Cosine COS (numeric_expression) REAL

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 17

The table provides examples of using relational operators

How strings are evaluated

• Strings are equal if their characters match.

18 Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

Use these logical operators.

The table provides examples of using logical operators.

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 19

of execution • Operations of equal order perform from left to right.

20 Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

In structured text, if writting this example as:

Structured Text Program constructs alone or nest within other constructs.

Some Key Words are Reserved

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 21

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

22 Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

To use ELSIF or ELSE, follow these guidelines.

Each ELSIF represents an alternative path.

Affects Math Status Flags

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 23

conveyor = off (0) conveyor := 0;

24 Rockwell Automation Publication 1756-PM007I-EN-P - September 2020

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

Rockwell Automation Publication 1756-PM007I-EN-P - September 2020 25

These are the syntax for entering the selector values.

Use a comma (,) to separate each value.

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