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SIMOTION ST Structured Text
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SIMOTION
SIMOTION SCOUT
SIMOTION ST Structured Text
Programming and Operating Manual
02/2012
Preface
Introduction
1
Getting Started with ST
2
ST Fundamentals
3
Functions, Function Blocks,
and Programs
4
Integration of ST in
SIMOTION
5
Error Sources and Program
Debugging
6
Appendix
A
Legal information
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
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the relevant information is not taken into account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The 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.
Siemens AG
Industry Sector
Postfach 48 48
90026 NÜRNBERG
GERMANY
Copyright © Siemens AG 2012.
All rights reserved
SIMOTION ST Structured Text
Programming and Operating Manual, 02/2012
3
Preface
Scope
This document is part of the SIMOTION Programming documentation package.
This document applies to SIMOTION SCOUT, the engineering system of the SIMOTION
V4.3 product family in conjunction with:
● A SIMOTION device with the following versions of SIMOTION Kernel:
– 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 V4.1 and higher)
– 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.
Preface
SIMOTION ST Structured Text
4 Programming and Operating Manual, 02/2012
Conversion of existing projects to the current SIMOTION SCOUT version
It is possible to upgrade existing projects to the current version of SIMOTION SCOUT and
the SIMOTION ST programming language. In some cases, recompilation using the current
version of the compiler can change the version identifiers in the data storage areas of the
programs, thus resulting in deletion and initialization of all retentive and non-retentive data
on the SIMOTION device. In exceptional cases, minor changes to the program source files
may also be required.
If new syntax elements of the SIMOTION ST programming language are used on a
SIMOTION device with an older version of the SIMOTION Kernel, the compiler outputs
warning 16700. If these syntax elements are used anyway, the project can be stored in the
old project format, but can no longer be converted using the compiler of an older version of
SIMOTION SCOUT.
Information in this manual
The following is a list of chapters included in this manual along with a description of the
information presented in each chapter.
● Introduction (Chapter 1)
● Getting Started with ST (Chapter 2)
Requirements for creating programs and a sample program
● ST Basics (Chapter 3)
Elements of the ST programming language, variable and data type declarations,
statements
● Functions, Function Blocks and Programs (Chapter 4)
Programming and call of the program organization units (POU)
● Integration of ST in SIMOTION SCOUT (Chapter 5)
Behavior of variables, access to inputs and outputs, libraries, preprocessor
● Error Sources and Program Test (Chapter 6)
Information on error sources, efficient programming, and program testing
● Appendices
– Formal Language Description (Appendix A.1)
– Compiler Error Messages and Remedies (Appendix A.2)
– Template for Example Unit (Appendix A.3)
● Index
If you want to get started immediately, begin by working through Chapter 2.
Preface
SIMOTION ST Structured Text
Programming and Operating Manual, 02/2012
5
SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of references.
This documentation is included as electronic documentation in the scope of delivery of
SIMOTION SCOUT. It comprises 10 documentation packages.
The following documentation packages are available for SIMOTION V4.3:
● SIMOTION Engineering System
● 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
Hotline and Internet addresses
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 in 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:
docu.motioncontrol@siemens.com
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 this for the purpose of your own machine
documentation:
http://www.siemens.com/mdm
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