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Basic Structured Text Programming

Updated on April 23, 2009

Structured Text (ST)

PLC programmers have traditionally developed applications using Ladder Logic. PLC manufactures have controllers capable of accepting programs written in the 5 recognized standards as specified in Part 3 of the IEC 61131. The five supported languages are:

  • Ladder diagram (LD), graphical
  • Function block diagram (FBD), graphical
  • Structured text (ST), textual
  • Instruction list (IL), textual
  • Sequential function chart (SFC), graphical

Structured Text (ST) is a high level textual language that is a Pascal like language. It is based on the IEC 61131-3 standard, which standardizes programming languages for programmable controllers (PLC). Structured Text is very flexible and intuitive for writing control algorithms.

Structured Text uses operators such as logical branching, multiple branching, and loops. People trained in computer programming languages often find it the easiest language to use for programming control logic. When symbolic addressing is used, ST programs resemble sentences, making it highly intelligible to beginner users as well.

Benefits of Structured Text

  • People trained in computer languages can easily program control logic
  • Tag Structure UDT (User Defined Tags), local variables and other ST programming conventions make the programs easy to understand
  • Programs can be created in any text editor
  • State-Model or Power Programming is easily entered with the Case statement

This article presents a very common programming technique often incorporated in a typical PLC program. The method is for creating a Toggle On / Toggle Off control with a single input. The traditional Ladder Diagram technique for this sequence is shown in the graphic below. The Structured Text method is presented below. Start_Stop is the single input, ON_OFF is the output that will Toggle ON / Toggle OFF. The other tags are local symbols used to help support the logic. The tag or symbol ONS_Trig is known as a one shot operator. A one shot is true for only one scan while the control or operand is maintained true.

Basic Structured Text (ST) Example:

// Start of Logic <-- Programming remark initiated with the double // slash
// Catch the Rising Edge One Shot of the Start_Stop input
ONS_Trig := Start_Stop AND NOT Rising_ONS;

// Main Logic for Run_Contact -- Toggle ON / Toggle OFF ---
ON_OFF := (ONS_Trig AND NOT ON_OFF) OR (ON_OFF AND NOT ONS_Trig);

// Rising One Shot logic
Rising_ONS := Start_Stop;

Ladder Diagram version of the Toggle routine

This graphic shows the typical ladder diagram technique for implementing the Toggle On / Toggle OFF with a sinlge input.
This graphic shows the typical ladder diagram technique for implementing the Toggle On / Toggle OFF with a sinlge input.

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    • profile image

      halique 3 years ago

      please attach some difficult structured text programs with examples

    • profile image

      Letheesh 4 years ago

      Is it possible to encode and decode a number in ST without using the Div operation ?

    • profile image

      martinnitsim 5 years ago

      hello again linda it took me ages to find it here is the link

      filling address ,give them a call ,just say martin put you on

    • profile image

      Shekhar 5 years ago

      Can you help in following Program which is in Siemens S5. This program having some instructions which is new for me. Please explain me the meaning of

      L FY 9

      L FY 34

      L FY 10

      L FY 35

      and

      L C 1

      L DW 17

      !=F

      = F 37.0

    • profile image

      Shekhar 5 years ago

      Hi Mequonite,

      Currently existing PLC is S5 & Hw is 101U.

      Can you explain me couple of instructions.

      what is mean by

      L IW 0

      L KM 11000000 00000011

      AW

      T FW 34

      L FW 34

      L FW 36

      >

    • profile image

      Oinky 6 years ago

      I'm wondering how can we program complex Ladder sequences (Interlocking/Priorities) in terms of Structured Text.

      I've been programming PLC in Ladder ever since and just started learning Structured Text. I'm having trouble interpreting Ladder sequence into Structured Text. Can anyone provide a link of a helpful ST programming manual?

      Thanks very much,

      Andrei

      Philippines

    • profile image

      judijudi 7 years ago

      Thanks Mequonite,

      I hope I can handle it although I think it is too far. Thank you very much for your useful information.

      Can you tell me how can I couple two or three motors with each other?

      If I had more questions can I ask you?

      Regards

    • Mequonite profile image
      Author

      Mequonite 7 years ago from Mequon, WI

      There are many techniques for motor axis motion with ST. I prefer to create a simple case statement that reflects the status of the motor. The idea is to trigger the Beckhoff motion commands at the start of each status state. Here is an example I use with Siemens controllers:

      FUNCTION_BLOCK FB100 // Tech CPU Basic Axis Motion Block

      VAR_INPUT

      Axis_Num : INT; // Axis Number from Technology Controller

      Estop_Okay : BOOL; // Signal to Enable Axis or Remove Power

      Jog_FWD : BOOL; // Run or Jog Forward request bit

      Jog_REV : BOOL; // Run or Jog Reverse request bit

      Move_ABS : BOOL; // Absolute Positioning Move

      Move_REL : BOOL; // Relative Positioning Move

      Stop_Now : BOOL; // Set Stop Now to Stop Axis at any time

      Home_Axis : BOOL; // Reference Axis to Encoder Homing Position

      Tech_Error : BOOL; // Technology Fault bit from Axis TO

      Clear_Fault : BOOL; // Reset Axis Faults

      Params : BasicDynamics; // Structure of Dynamic Parametes for Velocity & Position

      END_VAR

      VAR_OUTPUT

      AxisState : INT;

      Enabled : BOOL;

      Faulted : BOOL;

      Warning : BOOL;

      Moving : BOOL;

      Target_Reached : BOOL;

      END_VAR

      // MC_Power --- Axis Enable ---

      AxisPower(Axis := Axis_Num // IN: INT

      // MC_Reset --- Acknowledge Axis errors ---

      AxisReset(Axis := Axis_Num // IN: INT

      IF NOT Estop_Okay THEN

      AxisState := 0;

      END_IF;

      IF Faulted THEN

      AxisState := 20;

      END_IF;

      IF AxisState AxisStateMem THEN

      AxisStateMem := AxisState;

      StateUpdate := TRUE;

      ELSE

      StateUpdate := FALSE;

      END_IF;

      // Axis State Model of Operation

      CASE AxisState OF

      0 : // Axis at ESTOP or Disabled

      IF Enabled THEN

      AxisState := 1;

      END_IF;

      1 : // Axis is Ready to accept command

      // Request to Jog or Run Axis with MC_Velocity

      2..3 : // Axis is in a Jog or Run State

      IF StateUpdate OR (AxisVelocity.Busy AND JogVelocity Params.Velocity) THEN

      JogTrig := TRUE;

      JogVelocity := Params.Velocity;

      ELSE

      JogTrig := FALSE;

      END_IF;

      // MC_MoveVelocity --- Jog or Run Axis at Velocity Setpoint ---

      AxisVelocity(Axis := Axis_Num // IN: INT

      4 : // Axis is Commanded to an Absolute Move

      // MC_MoveAbsolute --- Absolute Axis Move ---

      ABSMove(Axis := Axis_Num // IN: INT

      IF Stop_Now THEN

      AxisState := 6;

      END_IF;

      5 : // Axis is Commanded to a Relative Move

      // MC_MoveRelative --- Absolute Axis Move ---

      RELMove(Axis := Axis_Num // IN: INT

      6 : // Axis is Commanded to a STOP

      // MC_Stop --- Reference Axis position ---

      AxisStop(Axis := Axis_Num // IN: INT

      IF AxisStop.Done THEN

      AxisState := 1;

      END_IF;

      7..10 : // Axis is Commanded to a Automatic Machine State

      ;

      19 : // Axis is Commanded to Reference the Encoder

      // MC_Home --- Reference Axis position ---

      HomingActive(IN := NOT StateUpdate// IN: BOOL

      IF HomingActive.Q (* AND AxisHome.Done *)THEN

      AxisState := 1;

      END_IF;

      20 : // Axis is Reported to be Faulted

      IF Enabled OR NOT ESTOP_Okay THEN

      AxisState := 0;

      END_IF;

      ELSE:

      // Statements_ELSE

      ;

      END_CASE;

      // One Shot Control Bits

      Jog_ONS := Jog_FWD OR Jog_REV;

      Move_ABS_ONS := Move_ABS;

      Move_REL_ONS := Move_REL;

      Stop_Now_ONS := Stop_Now;

      Home_Axis_ONS := Home_Axis;

      FaultTimed(IN := (Estop_Okay AND NOT Enabled) OR Tech_Error// IN: BOOL

      ,PT := T#500ms// IN: TIME

      );

      IF FaultTimed.Q THEN

      Faulted := TRUE;

      ELSE

      Faulted := FALSE;

      END_IF;

      END_FUNCTION_BLOCK

    • profile image

      judi 7 years ago

      Hi Mequonite,

      It seems that you know a lot about the PLCs and ST. I want to write a program in st to control an end-effector. It is very difficult for me to start with st. I have 2 amplifiers from Beckhoff. I could give a simple movement to my motors through a simple program from beckhoff but I even have problems to reproduce that program myself. I am really confused.

      I really appreciate if you can help me. thanks in advance

      Regards

    • Mequonite profile image
      Author

      Mequonite 7 years ago from Mequon, WI

      ST Programming allows for style in tag naming as well as logical technique. K.I.S.S. recoded the example with a commone VB coding style using leading character capitalization with merged words. This convention works well! Thanks for the update (AlreadyPushed :)

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      K.I.S.S. 7 years ago

      I think I've got it. I totally missed the real time aspect of PLC programming. Just to make sure I did get it and to maybe help those like me I renamed the variables in the structured text. Some programmers have come into PLC programming without ever seeing an oscilloscope, a coil or a contact. I know the veterans are shrieking in horror, but you know we are out there.

      ONS_Trig -> ButtonPushed (abstracted logical button function)

      Start_Stop -> Button (1=currently being physically pushed, input)

      Rising_ONS -> AlreadyPushed (previous scan state)

      ON_OFF -> On (0=off, output)

      ButtonPushed := Button AND NOT AlreadyPushed;

      On:= (ButtonPushed AND NOT On) OR (NOT ButtonPushed AND On);

      AlreadyPushed := Button;

      It almost reads like prose, doesn't it?

      Thanks for helping me with this. Even if I didn't get it quite right, your responses have helped me think about it.

      Post more stuff. How about something on debounce or alarm ack handshaking between PLC and HMI or anything on how PLC and HMI programs split up the work and keep in sync.

    • Mequonite profile image
      Author

      Mequonite 7 years ago from Mequon, WI

      The chatter resulting from K.I.S.S. logic is a classic mistake. TDOT clearly understands how automation systems can easily be broken with goofy code.

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      TDOT 7 years ago

      Hey K.I.S.S -

      The reason for the "rising edge trigger stuff" is that, in your example, if s_s is true for more than one scan (which it would be if tied to a pushbutton, lets say) then your logic would flip flop as long as s_s is true. The oneshot logic triggers the output once (and seals in) for the first s_s true scan.... and turns off the output on the next s_s true scan. Get it?

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      K.I.S.S. 7 years ago

      Or rather:

      IF s_s THEN

      IF o_o THEN o_o:= FALSE;

      ELSE o_o:=TRUE;

      ENDIF;

      ENDIF;

      You know what I meant. :)

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      K.I.S.S. 7 years ago

      What's up with all this one-shot-trigger-rising-edge stuff?

      IF s_s THEN

      IF o_o THEN o_o:= TRUE;

      ELSE o_o:=FALSE;

      ENDIF;

      ENDIF;

      If that ain't all there is to it, what am I missing?

    • nicomp profile image

      nicomp really 8 years ago from Ohio, USA

      Very cool. Brings back memories of long hours doing start-ups in warehouses and DCs.